Goal-Image Conditioned Dynamic Cable Manipulation through Bayesian Inference and Multi-Objective Black-Box Optimization
Kuniyuki Takahashi,Tadahiro Taniguchi,Kuniyuki Takahashi,Tadahiro Taniguchi
To perform dynamic cable manipulation to realize the configuration specified by a target image, we formulate dynamic cable manipulation as a stochastic forward model. Then, we propose a method to handle uncertainty by maximizing the expectation, which also considers estimation errors of the trained model. To avoid issues like multiple local minima and requirement of differentiability by gradient-b...
