Lecture Recordings from my winter 2013/14 course on SLAM taught in Freiburg. Lecture material can be found here: http://ais.informatik.uni-freiburg.de/teachi...
A Key Challenge In Complex Visuomotor Control Is Learning Abstract Representations That Are Effective For Specifying Goals, Planning, And Generalization. To This End, We Introduce Universal Planning Networks (upn). Upns Embed Differentiable Planning Within A Goal-directed Policy. This Planning Computation Unrolls A Forward Model In A Latent Space And Infers An Optimal Action Plan Through Gradient Descent Trajectory Optimization. The Plan-by-gradient-descent Process And Its Underlying Representations Are Learned End-to-end To Directly Optimize A Supervised Imitation Learning Objective. We Find That The Representations Learned Are Not Only Effective For Goal-directed Visual Imitation Via Gradient-based Trajectory Optimization, But Can Also Provide A Metric For Specifying Goals Using Images. The Learned Representations Can Be Leveraged To Specify Distance-based Rewards To Reach New Target States For Model-free Reinforcement Learning, Resulting In Substantially More Effective Learning When Solving New Tasks Described Via Image-based Goals. We Were Able To Achieve Successful Transfer Of Visuomotor Planning Strategies Across Robots With Significantly Different Morphologies And Actuation Capabilities.
G. Schreiber, A. Stemmer, und R. Bischoff. IEEE Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications How to Modify and Enhance Commercial Controllers (ICRA 2010), Seite 15--21. Citeseer, (2010)
S. Levine, P. Pastor, A. Krizhevsky, und D. Quillen. (2016)cite arxiv:1603.02199Comment: This is an extended version of "Learning Hand-Eye Coordination for Robotic Grasping with Large-Scale Data Collection," ISER 2016. Draft modified to correct typo in Algorithm 1 and add a link to the publicly available dataset.
L. Rozo, S. Calinon, und D. Caldwell. Robot and Human Interactive Communication, 2014 RO-MAN: The 23rd IEEE International Symposium on, Seite 619--624. IEEE, (2014)
J. Parker, A. Khoogar, und D. Goldberg. Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on, Seite 271--276. IEEE, (1989)