2

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
We present a benchmark of structured policies for real-world dexterous manipulation. Our proposed approaches combine elements of classical robotics and modern policy optimization. This inclusion of inductive biases facilitates sample efficiency, interpretability, reliability and high performance.
Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, Jan Peters
PDF Cite Project
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
Learning event-triggered control from data through joint optimization
We present a framework for model-free learning of event-triggered control strategies. Event-triggered methods aim to achieve high …
Niklas Funk, Dominik Baumann, Vincent Berenz, Sebastian Trimpe
PDF Cite Project
Learning event-triggered control from data through joint optimization