7 papers
Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles
Jonas Kiemel, Ludovic Righetti, Torsten Kröger +1
In this paper, we present an approach for learning collision-free robot trajectories in the presence of moving obstacles. As a first step, we train a backup policy to generate evas…
Jerk-limited Traversal of One-dimensional Paths and its Application to Multi-dimensional Path Tracking
Jonas C. Kiemel, Torsten Kröger
In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual…
Learning Time-optimized Path Tracking with or without Sensory Feedback
Jonas C. Kiemel, Torsten Kröger
In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity…
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors
Jonas C. Kiemel, Torsten Kröger
This paper presents an approach for learning online generation of collision-free and torque-limited robot trajectories. In order to generate future motions, a neural network is per…
Learning Robot Trajectories subject to Kinematic Joint Constraints
Jonas C. Kiemel, Torsten Kröger
We present an approach to learn fast and dynamic robot motions without exceeding limits on the position , velocity , acceleration and jerk of each robo…
TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space
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…
TrueÆdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space
Jonas C. Kiemel, Robin Weitemeyer, Pascal Meißner +1
We present TrueÆdapt, a model-free method to learn online adaptations of robot trajectories based on their effects on the environment. Given sensory feedback and future waypoints o…