BriefGPT.xyz
Oct, 2017
通过物理引擎快速模型识别,以进行数据高效策略搜索
Model Identification via Physics Engines for Improved Policy Search
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Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris, Abdeslam Boularias
TL;DR
本文提出的方法利用物理引擎技术和基于贝叶斯优化的模型参数优化算法,通过模拟实验和样本学习的方式,有效地辨识了机器人的力学参数,提高了现有策略搜索算法的数据效率。
Abstract
This paper presents a practical approach for identifying unknown
mechanical parameters
, such as mass and friction models of manipulated rigid objects or actuated robotic links, in a succinct manner that aims to improve the performance of
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