TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space
Jonas C. Kiemel,Pascal Meißner,Torsten Kröger,Jonas C. Kiemel,Pascal Meißner,Torsten Kröger
We present TrueRMA, a data-efficient, model-free method to learn cost-optimized robot trajectories over a wide range of starting points and endpoints. The key idea is to calculate trajectory waypoints in Cartesian space by recursively predicting orthogonal adaptations relative to the midpoints of straight lines. We generate a differentiable path by adding circular blends around the waypoints, calc...
