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Efficient Online Learning of Contact Force Models for Connector Insertion
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2026-02-26 05:21:57
raw text
Efficient Online Learning of Contact Force Models for Connector Insertion Efficient Online Learning of Contact Force Models for Connector Insertion Kevin Tracy 1 , Zachary Manchester 1 , Ajinkya Jain 2 , Keegan Go 2 , Stefan Schaal 2 , Tom Erez 3 , Yuval Tassa 3 , 1 CMU, 2 [Google] Intrinsic, 3 Google DeepMind Paper arXiv LML Colab MuJoCo Colab Your browser does not support the video tag. Our method is used to automatically insert a misaligned plug in MuJoCo, where the contact forces are shown in white. Abstract We propose a new approach for modeling connector insertion environments by learning a quasi-static contact force model instead of a full simulator. Using a feature vector that contains information about the configuration and control, we find a linear mapping adequately captures the relationship between this feature vector and the sensed contact forces. A novel Linear Model Learning (LML) algorithm is use...
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