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Constraint-aware learning of policies by demonstration

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Constraint-aware learning of policies by demonstration

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Armesto, L.; Moura, J.; Ivan, V.; Erden, MS.; Sala, A.; Vijayakumar, S. (2018). Constraint-aware learning of policies by demonstration. The International Journal of Robotics Research. 37(13-14):1673-1689. https://doi.org/10.1177/0278364918784354

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/148358

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Title: Constraint-aware learning of policies by demonstration
Author: Armesto, Leopoldo Moura, Joao Ivan, Vladimir Erden, Mustafa Suphi Sala, Antonio Vijayakumar, Sethu
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
[EN] Many practical tasks in robotic systems, such as cleaning windows, writing, or grasping, are inherently constrained. Learning policies subject to constraints is a challenging problem. In this paper, we propose a method ...[+]
Subjects: Direct policy learning , Constrained motion , Null-space policy , Force/torque application
Copyrigths: Reconocimiento - No comercial (by-nc)
Source:
The International Journal of Robotics Research. (issn: 0278-3649 )
DOI: 10.1177/0278364918784354
Publisher:
SAGE Publications
Publisher version: https://doi.org/10.1177/0278364918784354
Project ID:
info:eu-repo/grantAgreement/EC/H2020/780684/EU/Memory of Motion/
EPSRC/EP/R026092/1
University of Edinburgh/EP/L016834/1
University of Edinburgh/EP/J015040/1
AEI/DPI2016-81002-R
Thanks:
The author(s) disclosed receipt of the following financial support for the research, auth/orship, and/or publication of this article: This work was supported by the Spanish Ministry of Economy and the European Union (grant ...[+]
Type: Artículo

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