4 papers
Learning Deep Energy Shaping Policies for Stability-Guaranteed Manipulation
Shahbaz Abdul Khader, Hang Yin, Pietro Falco +1
Deep reinforcement learning (DRL) has been successfully used to solve various robotic manipulation tasks. However, most of the existing works do not address the issue of control st…
Learning Stable Normalizing-Flow Control for Robotic Manipulation
Shahbaz Abdul Khader, Hang Yin, Pietro Falco +1
Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the…
Stability-Guaranteed Reinforcement Learning for Contact-rich Manipulation
Shahbaz A. Khader, Hang Yin, Pietro Falco +1
Reinforcement learning (RL) has had its fair share of success in contact-rich manipulation tasks but it still lags behind in benefiting from advances in robot control theory such a…
Data-efficient Model Learning and Prediction for Contact-rich Manipulation Tasks
Shahbaz Abdul Khader, Hang Yin, Pietro Falco +1
In this letter, we investigate learning forward dynamics models and multi-step prediction of state variables (long-term prediction) for contact-rich manipulation. The problems are…