FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3120528925> ?p ?o ?g. }

• W3120528925 abstract "Mobile manipulation tasks remain one of the critical challenges for the widespread adoption of autonomous robots in both service and industrial scenarios. While planning approaches are good at generating feasible whole-body robot trajectories, they struggle with dynamic environments as well as the incorporation of constraints given by the task and the environment. On the other hand, dynamic motion models in the action space struggle with generating kinematically feasible trajectories for mobile manipulation actions. We propose a deep reinforcement learning approach to learn feasible dynamic motions for a mobile base while the end-effector follows a trajectory in task space generated by an arbitrary system to fulfill the task at hand. This modular formulation has several benefits: it enables us to readily transform a broad range of end-effector motions into mobile applications, it allows us to use the kinematic feasibility of the end-effector trajectory as a dense reward signal and its modular formulation allows it to generalise to unseen end-effector motions at test time. We demonstrate the capabilities of our approach on multiple mobile robot platforms with different kinematic abilities and different types of wheeled platforms in extensive simulated as well as real-world experiments." @default.
• W3120528925 created "2021-01-18" @default.
• W3120528925 creator A5039639553 @default.
• W3120528925 creator A5082233141 @default.
• W3120528925 creator A5084779517 @default.
• W3120528925 date "2021-01-13" @default.
• W3120528925 modified "2023-09-27" @default.
• W3120528925 title "Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning" @default.
• W3120528925 cites W1507087299 @default.
• W3120528925 cites W1594201624 @default.
• W3120528925 cites W1963549352 @default.
• W3120528925 cites W2010209632 @default.
• W3120528925 cites W2030929340 @default.
• W3120528925 cites W2045616829 @default.
• W3120528925 cites W2109910161 @default.
• W3120528925 cites W2167340365 @default.
• W3120528925 cites W2512143431 @default.
• W3120528925 cites W2533802761 @default.
• W3120528925 cites W2561814270 @default.
• W3120528925 cites W2771779534 @default.
• W3120528925 cites W2773182285 @default.
• W3120528925 cites W2910448276 @default.
• W3120528925 cites W2963923407 @default.
• W3120528925 cites W2964227312 @default.
• W3120528925 cites W2974859226 @default.
• W3120528925 cites W3005451807 @default.
• W3120528925 cites W3010332752 @default.
• W3120528925 cites W3014311254 @default.
• W3120528925 cites W3029907520 @default.
• W3120528925 cites W3069663381 @default.
• W3120528925 cites W3206530605 @default.
• W3120528925 cites W567721252 @default.
• W3120528925 hasPublicationYear "2021" @default.
• W3120528925 type Work @default.
• W3120528925 sameAs 3120528925 @default.
• W3120528925 citedByCount "0" @default.
• W3120528925 crossrefType "posted-content" @default.
• W3120528925 hasAuthorship W3120528925A5039639553 @default.
• W3120528925 hasAuthorship W3120528925A5082233141 @default.
• W3120528925 hasAuthorship W3120528925A5084779517 @default.
• W3120528925 hasConcept C101468663 @default.
• W3120528925 hasConcept C111919701 @default.
• W3120528925 hasConcept C121332964 @default.
• W3120528925 hasConcept C127413603 @default.
• W3120528925 hasConcept C1276947 @default.
• W3120528925 hasConcept C133731056 @default.
• W3120528925 hasConcept C13662910 @default.
• W3120528925 hasConcept C154945302 @default.
• W3120528925 hasConcept C19966478 @default.
• W3120528925 hasConcept C201995342 @default.
• W3120528925 hasConcept C2780451532 @default.
• W3120528925 hasConcept C2780791683 @default.
• W3120528925 hasConcept C39920418 @default.
• W3120528925 hasConcept C41008148 @default.
• W3120528925 hasConcept C62520636 @default.
• W3120528925 hasConcept C74650414 @default.
• W3120528925 hasConcept C8652668 @default.
• W3120528925 hasConcept C90509273 @default.
• W3120528925 hasConcept C97541855 @default.
• W3120528925 hasConceptScore W3120528925C101468663 @default.
• W3120528925 hasConceptScore W3120528925C111919701 @default.
• W3120528925 hasConceptScore W3120528925C121332964 @default.
• W3120528925 hasConceptScore W3120528925C127413603 @default.
• W3120528925 hasConceptScore W3120528925C1276947 @default.
• W3120528925 hasConceptScore W3120528925C133731056 @default.
• W3120528925 hasConceptScore W3120528925C13662910 @default.
• W3120528925 hasConceptScore W3120528925C154945302 @default.
• W3120528925 hasConceptScore W3120528925C19966478 @default.
• W3120528925 hasConceptScore W3120528925C201995342 @default.
• W3120528925 hasConceptScore W3120528925C2780451532 @default.
• W3120528925 hasConceptScore W3120528925C2780791683 @default.
• W3120528925 hasConceptScore W3120528925C39920418 @default.
• W3120528925 hasConceptScore W3120528925C41008148 @default.
• W3120528925 hasConceptScore W3120528925C62520636 @default.
• W3120528925 hasConceptScore W3120528925C74650414 @default.
• W3120528925 hasConceptScore W3120528925C8652668 @default.
• W3120528925 hasConceptScore W3120528925C90509273 @default.
• W3120528925 hasConceptScore W3120528925C97541855 @default.
• W3120528925 hasLocation W31205289251 @default.
• W3120528925 hasOpenAccess W3120528925 @default.
• W3120528925 hasPrimaryLocation W31205289251 @default.
• W3120528925 hasRelatedWork W1601268312 @default.
• W3120528925 hasRelatedWork W2004735736 @default.
• W3120528925 hasRelatedWork W2143751493 @default.
• W3120528925 hasRelatedWork W2143964432 @default.
• W3120528925 hasRelatedWork W2156996022 @default.
• W3120528925 hasRelatedWork W2175016515 @default.
• W3120528925 hasRelatedWork W2300668509 @default.
• W3120528925 hasRelatedWork W2516038218 @default.
• W3120528925 hasRelatedWork W2571233111 @default.
• W3120528925 hasRelatedWork W2737795549 @default.
• W3120528925 hasRelatedWork W2910448276 @default.
• W3120528925 hasRelatedWork W2953427203 @default.
• W3120528925 hasRelatedWork W2995020454 @default.
• W3120528925 hasRelatedWork W3003894547 @default.
• W3120528925 hasRelatedWork W3069663381 @default.
• W3120528925 hasRelatedWork W3119292221 @default.
• W3120528925 hasRelatedWork W3120428840 @default.
• W3120528925 hasRelatedWork W3140854545 @default.
• W3120528925 hasRelatedWork W3157447782 @default.

• next