Concurrent Policy Blending and System Identification for Generalized Assistive Control
Luke Bhan,Marcos Quinones-Grueiro,Gautam Biswas,Luke Bhan,Marcos Quinones-Grueiro,Gautam Biswas
In this work, we address the problem of solving complex collaborative robotic tasks subject to multiple varying parameters. Our approach combines simultaneous policy blending with system identification to create generalized policies that are robust to changes in system parameters. We employ a blending network whose state space relies solely on parameter estimates from a system identification techn...
