Sim2Real for Peg-Hole Insertion with Eye-in-Hand Camera

Understand

Even though the peg-hole insertion is one of the well-studied problems in robotics, it still remains a challenge for robots, especially when it comes to flexibility and the ability to generalize.

• Successful completion of the task requires combining several modalities to cope with the complexity of the real world.
• In our work, we focus on the visual aspect of the problem and employ the strategy of learning an insertion task in a simulator.
• We use Deep Reinforcement Learning to learn the policy end-to-end and then transfer the learned model to the real robot, without any additional fine-tuning.