Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fast Skill Learning for Variable Compliance Robotic Assembly   The robotic assembly represents a group of benchmark problems for
reinforcement learning and variable compliance control that features
sophisticated contact manipulation. One of the key challenges in applying
reinforcement learning to physical robot is the sample complexity, the
requirement of large amounts of experience for learning. We mitigate this
sample complexity problem by incorporating an iteratively refitted model into
the learning process through model-guided exploration. Yet, fitting a local
model of the physical environment is of major difficulties. In this work, a
Kalman filter is used to combine the adaptive linear dynamics with a coarse
prior model from analytical description, and proves to give more accurate
predictions than the existing method. Experimental results show that the
proposed model fitting strategy can be incorporated into a model predictive
controller to generate good exploration behaviors for learning acceleration,
while preserving the benefits of model-free reinforcement learning for
uncertain environments. In addition to the sample complexity, the inevitable
robot overloaded during operation also tends to limit the learning efficiency.
To address this problem, we present a method to restrict the largest possible
potential energy in the compliance control system and therefore keep the
contact force within the legitimate range.

20
The categories of this paper are: acc-phys
15
The categories of this paper are: nucl-ex
26
The categories of this paper are: bayes-an
36
The categories of this paper are: cmp-lg
29
The categories of this paper are: funct-an
11
The categories of this paper are: hep-lat
32
The categories of this paper are: atom-ph
9
The categories of this paper are: nlin
0
The categories of this paper are: hep-ph
37
The categories of this paper are: supr-con
3
The categories of this paper are: physics
4
The categories of this paper are: cond-mat
7
The categories of this paper are: hep-th
22
The categories of this paper are: chao-dyn
17
The categories of this paper are: q-fin
13
The categories of this paper are: quant-ph