Supervisory teleoperation with online learning and optimal control

  title={Supervisory teleoperation with online learning and optimal control},
  author={Ioannis Havoutis and Sylvain Calinon},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
We present a general approach for online learning and optimal control of manipulation tasks in a supervisory teleoperation context, targeted to underwater remotely operated vehicles (ROVs). We use an online Bayesian nonparametric learning algorithm to build models of manipulation motions as task-parametrized hidden semi-Markov models (TP-HSMM) that capture the spatiotemporal characteristics of demonstrated motions in a probabilistic representation. Motions are then executed autonomously using… CONTINUE READING
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