Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping

CoRL, pp. 204-219, 2019.

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Other Links: arxiv.org|dblp.uni-trier.de

Abstract:

RMPflow is a recently proposed policy-fusion framework based on differential geometry. While RMPflow has demonstrated promising performance, it requires the user to provide sensible subtask policies as Riemannian motion policies (RMPs: a motion policy and an importance matrix function), which can be a difficult design problem in its own...More

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