Extrapolation of Physics-Inspired Deep Networks in Learning Robot Inverse Dynamics
Zhiming Li,
Shuangshuang Wu,
Wenbai Chen
et al.
Abstract:Accurate robot dynamics models are crucial for safe and stable control as well as for generalization to new conditions. Data-driven methods are increasingly used in robotics dynamics modeling for their superior approximation, with extrapolation performance being a critical efficacy indicator. While deep learning is widely used, it often overlooks essential physical principles, leading to weaker extrapolation capabilities. Recent innovations have introduced physics-inspired deep networks that integrate deep lea… Show more
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