BriefGPT.xyz
Apr, 2020
机器人学习和控制的结构化机械模型
Structured Mechanical Models for Robot Learning and Control
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Jayesh K. Gupta, Kunal Menda, Zachary Manchester, Mykel J. Kochenderfer
TL;DR
本文说明了使用结构化机械模型取代黑盒神经网络在机器人动力学建模上具有的优势，包括数据效率、易于应用先前知识和易于与基于模型的控制技术结合使用。在多个仿真机器人领域中，该方法可以从有限的数据中更好地推广和产生更可靠的基于模型的控制器。
Abstract
model-based methods
are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used.
deep neural networks
have been used to learn models of
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