Stefan Schaal

Towards robust online inverse dynamics learning

2016

Learning of inverse dynamics modeling errors is key for compliant or force control when analytical models are only rough approximations. Thus, designing real time capable function approximation algorithms has been a necessary focus towards the …

Combining learned and analytical models for predicting action effects.

2017 · arXiv (Cornell University)

One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, these …