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Learning Potential-based Policies from Constrained Motion
We present a method for learning potential-based policies from constrained motion data. In contrast to previous approaches to direct policy learning, our method can combine observations from a variety of contexts where ...
Multi-task Gaussian Process Learning of Robot Inverse Dynamics
The inverse dynamics problem for a robotic manipulator is to compute the torques needed at the joints to drive it along a given trajectory; it is beneficial to be able to learn this function for adaptive control. A robotic ...