Showing 1 - 2 of 2 UKAEA Paper Results
2023
UKAEA-RACE-CP(23)06
Wenxing Liu Hanlin Niu Wei Pan Guido Herrmann Joaquin Carrasco
Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow convergence to the optimal policy, nor effective, i.e., sizeable real-world robot data. Given limited time and hardware budgets, the performance of sim-and-real training is …
Purchase2022
UKAEA-CCFE-PR(22)29
Erwin Jose Lopez Pulgarin Ozan Tokatli Guy Burroughes Guido Herrmann
Tele-manipulation is indispensable for the nuclear industry, since teleoperated robots cancel the radiation hazard problem for the operator. However, the performance limitations of teleoperated robots for nuclear decommissioning tasks is not clearly answered in the literature. In this paper, we propose a task performance-based methodology to evalua…
Preprint Published