نسخة أولية وصول مفتوح
Outcome-Sensitive Motion Search for Impact-Aware Dexterous Catching
Skilled humans can catch fast-moving objects softly by coordinating interception, velocity matching, and follow-through to mitigate impact. Learning such impact-aware catching with reinforcement learning (RL), however, is challenging, as the policy must achieve reliable interception and grasping while regulating the se …