Geometric Fabrics: a Safe Guiding Medium for Policy Learning
Karl Van Wyk,Ankur Handa,Viktor Makoviychuk,Yijie Guo,Arthur Allshire,Nathan D. Ratliff,Karl Van Wyk,Ankur Handa,Viktor Makoviychuk,Yijie Guo,Arthur Allshire,Nathan D. Ratliff
Robotics policies are always subjected to complex, second order dynamics that entangle their actions with resulting states. In reinforcement learning (RL) contexts, policies have the burden of deciphering these complicated interactions over massive amounts of experience and complex reward functions to learn how to accomplish tasks. Moreover, policies typically issue actions directly to controllers...
