Using model knowledge for learning inverse dynamics

@article{NguyenTuong2010UsingMK,
  title={Using model knowledge for learning inverse dynamics},
  author={Duy Nguyen-Tuong and Jan Peters},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={2677-2682}
}
In recent years, learning models from data has become an increasingly interesting tool for robotics, as it allows straightforward and accurate model approximation. However, in most robot learning approaches, the model is learned from scratch disregarding all prior knowledge about the system. For many complex robot systems, available prior knowledge from advanced physics-based modeling techniques can entail valuable information for model learning that may result in faster learning speed, higher… CONTINUE READING
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