相关论文: Derivative-free online learning of inverse dynamic…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

Learning contact-rich manipulation skills is essential. Such skills require the robots to interact with the environment with feasible manipulation trajectories and suitable compliance control parameters to enable safe and stable contact.…

Physical modeling of robotic system behavior is the foundation for controlling many robotic mechanisms to a satisfactory degree. Mechanisms are also typically designed in a way that good model accuracy can be achieved with relatively simple…

This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization parameters. In robot navigation, however, state spaces often…

Machine learning has become increasingly popular for efficiently modelling the dynamics of complex physical systems, demonstrating a capability to learn effective models for dynamics which ignore redundant degrees of freedom. Learned…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

In this paper, we propose an online learning approach that enables the inverse dynamics model learned for a source robot to be transferred to a target robot (e.g., from one quadrotor to another quadrotor with different mass or aerodynamic…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

One of the key challenges in applying reinforcement learning to complex robotic control tasks is the need to gather large amounts of experience in order to find an effective policy for the task at hand. Model-based reinforcement learning…

With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse…

Learning from Demonstrations, the field that proposes to learn robot behavior models from data, is gaining popularity with the emergence of deep generative models. Although the problem has been studied for years under names such as…

Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based Parametric models with unstructured Non-Parametric…

Online Goal Babbling and Direction Sampling are recently proposed methods for direct learning of inverse kinematics mappings from scratch even in high-dimensional sensorimotor spaces following the paradigm of "learning while behaving". To…

Learning processes by exploiting restricted domain knowledge is an important task across a plethora of scientific areas, with more and more hybrid training methods additively combining data-driven and model-based approaches. Although the…

Recent model-free reinforcement learning algorithms have proposed incorporating learned dynamics models as a source of additional data with the intention of reducing sample complexity. Such methods hold the promise of incorporating imagined…

Derivative training is an established method that can significantly increase the accuracy of neural networks in certain low-dimensional tasks. In this paper, we extend this improvement to an illustrative image analysis problem:…

Precise kinematic modeling is critical in calibration and controller design for soft robots, yet remains a challenging issue due to their highly nonlinear and complex behaviors. To tackle the issue, numerous data-driven machine learning…

In this work, we consider the task of improving the accuracy of dynamic models for model predictive control (MPC) in an online setting. Although prediction models can be learned and applied to model-based controllers, these models are often…

Model predictive control (MPC) is a powerful technique for solving dynamic control tasks. In this paper, we show that there exists a close connection between MPC and online learning, an abstract theoretical framework for analyzing online…