Peg-in-hole Insertion using Ergodic Exploration 

This video is associated with the following research article:
"Ergodic Exploration using Tensor Train: Applications in Insertion Tasks", Suhan Shetty, João Silvério and Sylvain Calinon.
Website: sites.google.c...
Paper: arxiv.org/abs/2...
We propose to use ergodic exploration for the insertion task without any specialized sensors but only using human demonstrations. For the 6D ergodic exploration required by the insertion task with a robot manipulator, we leverage our algorithm for high-dimensional ergodic exploration proposed in the above research article.