Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Stability-Guaranteed Reinforcement Learning for Contact-rich
  Manipulation   Reinforcement learning (RL) has had its fair share of success in contact-rich
manipulation tasks but it still lags behind in benefiting from advances in
robot control theory such as impedance control and stability guarantees.
Recently, the concept of variable impedance control (VIC) was adopted into RL
with encouraging results. However, the more important issue of stability
remains unaddressed. To clarify the challenge in stable RL, we introduce the
term all-the-time-stability that unambiguously means that every possible
rollout will be stability certified. Our contribution is a model-free RL method
that not only adopts VIC but also achieves all-the-time-stability. Building on
a recently proposed stable VIC controller as the policy parameterization, we
introduce a novel policy search algorithm that is inspired by Cross-Entropy
Method and inherently guarantees stability. Our experimental studies confirm
the feasibility and usefulness of stability guarantee and also features, to the
best of our knowledge, the first successful application of RL with
all-the-time-stability on the benchmark problem of peg-in-hole.

21
The categories of this paper are: adap-org
7
The categories of this paper are: hep-th
25
The categories of this paper are: patt-sol
27
The categories of this paper are: comp-gas
10
The categories of this paper are: q-bio
6
The categories of this paper are: astro-ph
3
The categories of this paper are: physics
30
The categories of this paper are: q-alg
24
The categories of this paper are: dg-ga
28
The categories of this paper are: alg-geom
32
The categories of this paper are: atom-ph
18
The categories of this paper are: econ
22
The categories of this paper are: chao-dyn
37
The categories of this paper are: supr-con
4
The categories of this paper are: cond-mat
5
The categories of this paper are: gr-qc