Jacta: A Versatile Planner for Learning Dexterous and Whole-body
Manipulation
Jacta: A Versatile Planner for Learning Dexterous and Whole-body
Manipulation
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations, typically from humans. Existing planners are restricted to specific systems and often depend on specialized algorithms for using demonstrations. …