Akash Sharma
@akashshrm02
Perhaps counterintuitive, but this is fundamentally true.
IK is built on a simple model of the arm and doesn’t account for things like friction, arm dynamics, environment. With RL you can get reactivity, distill to choose the right IK branches to avoid singularities.
Bitter
IK is built on a simple model of the arm and doesn’t account for things like friction, arm dynamics, environment. With RL you can get reactivity, distill to choose the right IK branches to avoid singularities.
Bitter
Qiayuan Liao@qiayuanliao · Oct 1Any online optimization (IK, ID, MPC) for low-level control should be abandoned. A RL policy can fundamentally track more precisely, more robustly, and adaptively to unknown disturbances and uncharacterized noise, especially for low-cost hardware, even on a manipulator.
Open quoted post → 0 32