Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees

  title={Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees},
  author={Muhammad Asif Rana and Anqi Li and Dieter Fox and S. Chernova and Byron Boots and Nathan D. Ratliff},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  • M. A. Rana, Anqi Li, Nathan D. Ratliff
  • Published 24 December 2020
  • Computer Science
  • 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed on the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human demonstrations. Our structured policy is inspired by RMPflow, a framework for combining subtask policies on different spaces. The policy structure provides the user an interface to 1) specifying the spaces that are directly relevant to the completion of the… 
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