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Title:Reconstructing Null-space Policies Subject to Dynamic Task Constraints in Redundant Manipulators
Authors: Matthew Howard ; Sethu Vijayakumar
Date: 2007
Publication Title:Workshop on Robotics and Mathematics
Publication Type:Conference Paper Publication Status:Published
We consider the problem of direct policy learning in situations where the policies are only observable through their projections into the null-space of a set of dynamic, non-linear task constraints. We tackle the issue of deriving consistent data for the learning of such policies and make two contributions towards its solution. Firstly, we derive the conditions required to exactly reconstruct null-space policies and suggest a learning strategy based on this derivation. Secondly, we consider the case that the null-space policy is conservative and show that such a policy can be learnt more easily and robustly by learning the underlying potential function and using this as our representation of the policy.
2007 by The University of Edinburgh. All Rights Reserved
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Bibtex format
author = { Matthew Howard and Sethu Vijayakumar },
title = {Reconstructing Null-space Policies Subject to Dynamic Task Constraints in Redundant Manipulators},
book title = {Workshop on Robotics and Mathematics},
year = 2007,

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