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  Using Model Knowledge for Learning Inverse Dynamics

Nguyen-Tuong, D., & Peters, J. (2010). Using Model Knowledge for Learning Inverse Dynamics. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 2677-2682). Piscataway, NJ, USA: IEEE.

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Nguyen-Tuong, D1, 2, Author              
Peters, J1, 2, Author              
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1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: In recent years, learning models from data has become an increasingly interesting tool for robotics, as it allows straightforward and accurate model approximation. However, in most robot learning approaches, the model is learned from scratch disregarding all prior knowledge about the system. For many complex robot systems, available prior knowledge from advanced physics-based modeling techniques can entail valuable information for model learning that may result in faster learning speed, higher accuracy and better generalization. In this paper, we investigate how parametric physical models (e.g., obtained from rigid body dynamics) can be used to improve the learning performance, and, especially, how semiparametric regression methods can be applied in this context. We present two possible semiparametric regression approaches, where the knowledge of the physical model can either become part of the mean function or of the kernel in a nonparametric Gaussian process regression. We compare the learning performance o f these methods first on sampled data and, subsequently, apply the obtained inverse dynamics models in tracking control on a real Barrett WAM. The results show that the semiparametric models learned with rigid body dynamics as prior outperform the standard rigid body dynamics models on real data while generalizing better for unknown parts of the state space.

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 Dates: 2010-05
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/ROBOT.2010.5509858
BibTex Citekey: 6232
 Degree: -

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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Place of Event: Anchorage, AK, USA
Start-/End Date: 2010-05-03 - 2010-05-07

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Title: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2677 - 2682 Identifier: ISBN: 978-1-424-45038-1