Learning-In-The-Loop Optimization: End-To-End Control And Co-Design of Soft Robots Through Learned Deep Latent Representations

ADVANCES IN NEURAL INFORMATION PROCESSING SYSTEMS 32 (NIPS 2019), 2019.

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Abstract:

Soft robots have continuum solid bodies that can deform in an infinite number of ways. Controlling soft robots is very challenging as there are no closed form solutions. We present a learning-in-the-loop co-optimization algorithm in which a latent stale representation is learned as the robot figures out how to solve the task. Our solution...More

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