Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
M. Asif Rana,Anqi Li,Dieter Fox,Sonia Chernova,Byron Boots,Nathan Ratliff,M. Asif Rana,Anqi Li,Dieter Fox,Sonia Chernova,Byron Boots,Nathan Ratliff
Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed on the robot. In this paper, we propose to solve multi-task problems through learning structured policies from human demonstrations. Our structured policy is inspired by RMPflow, a framework for combining subtask policies on different spaces. The policy structure provides the...
