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How to reuse and compose knowledge for a lifetime of tasks: A survey on continual learning and functional composition
Composable energy policies for reactive motion generation and reinforcement learning
In this work, we introduce composable energy policies (CEP), a novel framework for multi-
objective motion generation. We frame the problem of composing multiple policy …
objective motion generation. We frame the problem of composing multiple policy …
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience
Most dynamics functions are not well-aligned to task requirements. Controllers, therefore,
often invert the dynamics and reshape it into something more useful. The learning …
often invert the dynamics and reshape it into something more useful. The learning …
On-Manifold Strategies for Reactive Dynamical System Modulation with Non-Convex Obstacles
In this work, we present a novel, reactive, modulated control strategy based on dynamical
systems (DS) for planning in the context of multiple nonconvex obstacles. Our DS …
systems (DS) for planning in the context of multiple nonconvex obstacles. Our DS …
RETOM: Leveraging Maneuverability for Reactive Tool Manipulation using Wrench-Fields
This paper investigates the problem of effective tool manipulation for motion planning in
complex human-like scenarios. Vector-field-based real-time strategies, although widely …
complex human-like scenarios. Vector-field-based real-time strategies, although widely …