Learning the Latent Space of Robot Dynamics for Cutting Interaction Inference
Sahand Rezaei-Shoshtari,David Meger,Inna Sharf,Sahand Rezaei-Shoshtari,David Meger,Inna Sharf
Utilization of latent space to capture a lower-dimensional representation of a complex dynamics model is explored in this work. The targeted application is of a robotic manipulator executing a complex environment interaction task, in particular, cutting a wooden object. We train two flavours of Variational Autoencoders-standard and Vector-Quantised-to learn the latent space which is then used to i...
