Robustifying a reinforcement learning agent-based bionic reflex controller through an adaptive sliding mode control

Abstract

Maintaining object grasp stability represents a pivotal challenge within the domain of robotic manipulation and upper-limb prosthetics. Perturbations originating from external sources frequently disrupt the stability of grasps, resulting in slippage occurrences. Also, if the grasping forces are not optimal while controlling the slip, it may result in the deformation of the objects. This study investigates the robustification of a reinforcement learning (RL) policy for implementing intelligent bionic reflex control, i.e., slip and deformation prevention of the grasped objects. RL-derived policies are vulnerable to failures in environments characterized by dynamic variability. To mitigate this vulnerability, we propose a methodology involving the incorporation of an adaptive sliding mode controller into a pre-trained RL policy. By exploiting the inherent invariance property of the sliding mode algorithm in the presence of uncertainties, our approach strengthens the robustness of the RL policies against diverse and dynamic variations. Numerical simulations substantiate the efficacy of our approach in robustifying RL policies trained within simulated environments.