4 papers
Model-based Policy Search for Partially Measurable Systems
Fabio Amadio, Alberto Dalla Libera, Ruggero Carli +2
In this paper, we propose a Model-Based Reinforcement Learning (MBRL) algorithm for Partially Measurable Systems (PMS), i.e., systems where the state can not be directly measured,…
Proprioceptive Robot Collision Detection through Gaussian Process Regression
Dalla Libera Alberto, Tosello Elisa, Pillonetto Gianluigi +2
This paper proposes a proprioceptive collision detection algorithm based on Gaussian Regression. Compared to sensor-based collision detection and other proprioceptive algorithms, t…
Robot kinematic structure classification from time series of visual data
Alberto Dalla Libera, Matteo Terzi, Alessandro Rossi +2
In this paper we present a novel algorithm to solve the robot kinematic structure identification problem. Given a time series of data, typically obtained processing a set of visual…
Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze
Diego Romeres, Devesh Jha, Alberto Dalla Libera +2
This paper presents a problem of model learning for the purpose of learning how to navigate a ball to a goal state in a circular maze environment with two degrees of freedom. The m…