1 code implementation • 16 Nov 2018 • Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff
We develop a novel policy synthesis algorithm, RMPflow, based on geometrically consistent transformations of Riemannian Motion Policies (RMPs).
Robotics Systems and Control
no code implementations • 12 Oct 2018 • Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, Dieter Fox
In doing so, we are able to change the distribution of simulations to improve the policy transfer by matching the policy behavior in simulation and the real world.
1 code implementation • 19 Feb 2016 • Jan Issac, Manuel Wüthrich, Cristina Garcia Cifuentes, Jeannette Bohg, Sebastian Trimpe, Stefan Schaal
To address this issue, we show how a recently published robustification method for Gaussian filters can be applied to the problem at hand.
no code implementations • 14 Sep 2015 • Manuel Wüthrich, Cristina Garcia Cifuentes, Sebastian Trimpe, Franziska Meier, Jeannette Bohg, Jan Issac, Stefan Schaal
The contribution of this paper is to show that any Gaussian filter can be made compatible with fat-tailed sensor models by applying one simple change: Instead of filtering with the physical measurement, we propose to filter with a pseudo measurement obtained by applying a feature function to the physical measurement.