Efficiently Learning Manipulations by Selecting Structured Skill Representations
Mohit Sharma,Oliver Kroemer,Mohit Sharma,Oliver Kroemer
A key challenge in learning to perform manipulation tasks is selecting a suitable skill representation. While specific skill representations are often easier to learn, they are often only suitable for a narrow set of tasks. In most prior works, roboticists manually provide the robot with a suitable skill representation to use e.g. a neural network or DMPs. By contrast, we propose to allow the robo...
