Closed-loop Control of Direct Ink Writing via Reinforcement Learning
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Technical Paper
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Research & Education
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DescriptionWe present a closed-loop control for high-quality fabrication using reinforcement learning. Our method replaces difficult-to-realize training on physical hardware with a new numerical simulation framework for discovering control policies. We deploy the discovered controllers on printing hardware and demonstrate a minimal sim-to-real gap for low- and high-viscosity materials.