20.500.12556/RUL-153103 Hierarchical learning of robotic contact policies The paper addresses the issue of learning tasks where a robot maintains permanent contact with the environment. We propose a new methodology based on a hierarchical learning scheme coupled with task representation through directed graphs. These graphs are constituted of nodes and branches that correspond to the states and robotic actions, respectively. The upper level of the hierarchy essentially operates as a decision-making algorithm. It leverages reinforcement learning (RL) techniques to facilitate optimal decision-making. The actions are generated by a constraint-space following (CSF) controller that autonomously identifies feasible directions for motion. The controller generates robot motion by adjusting its stiffness in the direction defined by the Frenet–Serret frame, which is aligned with the robot path. The proposed framework was experimentally verified through a series of challenging robotic tasks such as maze learning, door opening, learning to shift the manual car gear, and learning car license plate light assembly by disassembly. autonomous robot learning learning experience compliance and impedance control learning from experience perception-action coupling compliant assembly strojno učenje učenje izkušnje true false true Angleški jezik Slovenski jezik Članek v reviji 2023-12-18 08:38:52 2023-12-18 08:38:56 2023-12-19 03:44:20 0000-00-00 00:00:00 2024 0 0 12 str. Vol. 86, art. 102657 Apr. 2024 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004 1879-2537 10.1016/j.rcim.2023.102657 164894211 1-s2.0-S0736584523001321-main.pdf 1-s2.0-S0736584523001321-main.pdf 1 4DA3F61EA4EE6ECBA9831DD48AF8AF51 b147404089c053fbaff899475144a59a4e12c5a1254447de5f5e917cef0a5dec c6a8bcf1-9d78-11ee-a59a-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=178979 https://www.sciencedirect.com/science/article/pii/S0736584523001321 1 8241d59c-9d78-11ee-a59a-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=178978 Fakulteta za elektrotehniko 0 0 0