Robot Program Parameter Inference via Differentiable Shadow Program Inversion
Benjamin Alt,
Darko Katic,
Rainer Jäkel
et al.
Abstract:Challenging manipulation tasks can be solved effectively by combining individual robot skills, which must be parameterized for the concrete physical environment and task at hand. This is time-consuming and difficult for human programmers, particularly for force-controlled skills. To this end, we present Shadow Program Inversion (SPI), a novel approach to infer optimal skill parameters directly from data. SPI leverages unsupervised learning to train an auxiliary differentiable program representation ("shadow pr… Show more
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