Learning Implicit Priors for Motion Optimization
Julen Urain,An T. Le,Alexander Lambert,Georgia Chalvatzaki,Byron Boots,Jan Peters,Julen Urain,An T. Le,Alexander Lambert,Georgia Chalvatzaki,Byron Boots,Jan Peters
Motion optimization is an effective framework for generating smooth and safe trajectories for robotic manipulation tasks. However, it suffers from local optima that hinder its applicability, especially for multi-objective tasks. In this paper, we study this problem in light of the integration of Energy-Based Models (EBM) as guiding priors in motion optimization. EBMs are probabilistic models with ...
