Learning State-Dependent Losses for Inverse Dynamics Learning
Kristen Morse,Neha Das,Yixin Lin,Austin S. Wang,Akshara Rai,Franziska Meier,Kristen Morse,Neha Das,Yixin Lin,Austin S. Wang,Akshara Rai,Franziska Meier
Being able to quickly adapt to changes in dynamics is paramount in model-based control for object manipulation tasks. In order to influence fast adaptation of the inverse dynamics model's parameters, data efficiency is crucial. Given observed data, a key element to how an optimizer updates model parameters is the loss function. In this work, we propose to apply meta-learning to learn structured, s...
