Whole-body manipulation is a strength of humans but a weakness of robots. The robot interprets each possible contact point between the box and the carrier's fingers, arms, or torso as a separate contact event. This task becomes difficult to prepare for as soon as one considers the billions of possible contact events. Now, MIT researchers can streamline this technique, called contact-rich manipulation planning. An artificial intelligence approach called smoothing is used to reduce the number of judgments needed to find a good manipulation plan for the robot from the vast number of contact occurrences. New developments in RL have demonstrated
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