PhD Defense: Visual and Force Driven Based Assembly Learning Using Collaborative Robots

31 March 2023

Abstract: This thesis explores learning frameworks for collaborative robots in assembly operations. Reinforcement Learning (RL) with visual and haptic information tackles target uncertainty, while proactive actions improve policy learning. Another framework combines visual serving-based Learning from Demonstration (LfD) and force-based Learning by Exploration (LbE) for efficient programming. Lastly, a sim-to-real transfer learning framework addresses sample efficiency and safety concerns, using CycleGAN and force control transfer for successful real-world adaptation.

Date and Time: 31 March 2023 10:00 CET.

Room F-334, Informatikum Campus, Vogt-Kölln-Str. 30, 22527 Hamburg.