Haptics-based Curiosity for Sparse-reward Tasks

Sai Rajeswar, Cyril Ibrahim, Nitin Surya, Florian Golemo, David Vázquez, Aaron C. Courville, Pedro O. Pinheiro

Abstract: Robots in many real-world settings have access to force/torque sensors in their gripper and tactile sensing is often necessary for tasks that involve contact-rich motion. In this work, we leverage ...