IEEE Robotics & Automation Magazine - June 2023 - 60

Rewards
Actions
Image
Agent
State
Observations
(a)
Environment
State
Actions
Agent
Image
Simulation
Real World
Simulation
Data
(Expert)
Real
Discriminator
(b)
Fake
Generator
(c)
FIGURE 1. An illustration of the proposed workflow for completing complex assembly tasks. (a) Step 1: Training in simulation. (b) Step 2:
Sim-to-real transfer. (c) Step 3: Real robot deployment.
TABLE 1. The parameters of the reward function.
RL REWARD WEIGHTS
Grasp approach reward
Grasp reward
Assembly approach reward
Hover reward
Finish reward
FIGURE 2. An overview of three doublets to be assembled.
Time penalty (every second)
0.1
10
0.1
10
25
−0.02
Environment
20
40
60
80
FIGURE 3. A configuration diagram of the virtual assembly
environment.
60 IEEE ROBOTICS & AUTOMATION MAGAZINE JUNE 2023
3
5
1
2
0 100 200 300 400 500 600
Step
FIGURE 4. The changes of the reward functions in the manual
control process and the key points of the task.
4
Reward

IEEE Robotics & Automation Magazine - June 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2023

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