Haridwar

Kinematic Reward, Measured Effort: Hardware-Validated RL Morphology Optimization of a Planar 2R Manipulator

Yoshikawa's Manipulability Index is generally used as a classical measure to define an optimal morphology of a manipulator. However, any such optimization is almost always studied as a purely kinematic quantity in simulation and is rarely validated on hardware. We present a reinforcement-learning framework with RSL-RL...