Niklas Funk
Niklas Funk
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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
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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
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