Optimize, Learn, Refine: Whole-Body Grasping and Pick-and-Throw with a Spiral Soft Robot
This work uses an optimize-learn-refine framework to teach soft robots how to perform whole-body grasping and pick-and-throw tasks from an ungrasped state. By optimizing tendon commands based on task outcomes, the method synthesizes complex behaviors. It proves highly effective in both simulation and physical hardware, achieving 98.4% grasp success in simulation and 100% success in pick-and-throw.