Learning Inverse Dynamics: A Comparison (2008)
Nguyen-Tuong, D., Peters, J., Seeger, M., Schölkopf, B.
While it is well-known that model can enhance the control performance in terms of precision or energy efficiency, the practical application has often been limited by the complexities of manually...
Local Gaussian Processes Regression for Real-time Model-based Robot Control (2008)
High performance and compliant robot control require accurate dynamics models which cannot be obtained analytically for sufficiently complex robot systems. In such cases, machine learning offers a...
Learning Robot Dynamics for Computed Torque Control Using Local Gaussian Processes Regression (2008)
Nguyen-Tuong, D., Peters, J., Stoica, A., Tunstel, E., Huntsberger, T., Arslan, T., ...
Accurate models of the robot dynamics allow the design of significantly more precise, energy-efficient and more compliant computed torque control for robots. However, in some cases the accuracy of...
Computed Torque Control with Nonparametric Regression Models (2008)
Nguyen-Tuong, D., Peters, J., Seeger, M.
Computed torque control allows the design of considerably more precise, energy-efficient and compliant controls for robots. However, the major obstacle is the requirement of an accurate model for...
Learning Inverse Dynamics: A Comparison (2008)
Nguyen-Tuong, D., Peters, J., Seeger, M., Schölkopf, B., Verleysen, M.
While it is well-known that model can enhance the control performance in terms of precision or energy efficiency, the practical application has often been limited by the complexities of manually...
Real-time Learning of Resolved Velocity Control on a Mitsubishi PA-10 (2008)
Learning inverse kinematics has long been fascinating the robot learning community. While humans acquire this transformation to complicated tool spaces with ease, it is not a straightforward...
Policy Learning: A Unified Perspective with Applications in Robotics (2008)
Peters, J., Kober, J., Nguyen-Tuong, D., Girgin, S., Loth, M., Munos, R., ...
Policy Learning approaches are among the best suited methods for high-dimensional, continuous control systems such as anthropomorphic robot arms and humanoid robots. In this paper, we show two...