Matches in SemOpenAlex for { <https://semopenalex.org/work/W3136025385> ?p ?o ?g. }
Showing items 1 to 79 of
79
with 100 items per page.
- W3136025385 endingPage "3925" @default.
- W3136025385 startingPage "3918" @default.
- W3136025385 abstract "This letter presents contact-safe Model-based Reinforcement Learning (MBRL) for robot applications that achieves contact-safe behaviors in the learning process. In typical MBRL, we cannot expect the data-driven model to generate accurate and reliable policies to the intended robotic tasks during the learning process due to sample scarcity. Operating these unreliable policies in a contact-rich environment could cause damage to the robot and its surroundings. To alleviate the risk of causing damage through unexpected intensive physical contacts, we present the contact-safe MBRL that associates the probabilistic Model Predictive Control's (pMPC) control limits with the model uncertainty so that the allowed acceleration of controlled behavior is adjusted according to learning progress. Control planning with such uncertainty-aware control limits is formulated as a deterministic MPC problem using a computation-efficient approximated GP dynamics and an approximated inference technique. Our approach's effectiveness is evaluated through bowl mixing tasks with simulated and real robots, scooping tasks with a real robot as examples of contact-rich manipulation skills." @default.
- W3136025385 created "2021-03-29" @default.
- W3136025385 creator A5011048472 @default.
- W3136025385 creator A5012730104 @default.
- W3136025385 creator A5042074952 @default.
- W3136025385 creator A5070668609 @default.
- W3136025385 creator A5091016962 @default.
- W3136025385 date "2021-04-01" @default.
- W3136025385 modified "2023-10-05" @default.
- W3136025385 title "Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning" @default.
- W3136025385 cites W1520597402 @default.
- W3136025385 cites W1657213141 @default.
- W3136025385 cites W1978956894 @default.
- W3136025385 cites W2100235553 @default.
- W3136025385 cites W2126909264 @default.
- W3136025385 cites W2172158418 @default.
- W3136025385 cites W2321599906 @default.
- W3136025385 cites W2418467170 @default.
- W3136025385 cites W2480459371 @default.
- W3136025385 cites W3003629310 @default.
- W3136025385 cites W3028308378 @default.
- W3136025385 cites W3039727005 @default.
- W3136025385 cites W3047214858 @default.
- W3136025385 cites W3088002337 @default.
- W3136025385 cites W3088662645 @default.
- W3136025385 cites W3091094690 @default.
- W3136025385 cites W3091552533 @default.
- W3136025385 cites W4205513846 @default.
- W3136025385 doi "https://doi.org/10.1109/lra.2021.3065271" @default.
- W3136025385 hasPublicationYear "2021" @default.
- W3136025385 type Work @default.
- W3136025385 sameAs 3136025385 @default.
- W3136025385 citedByCount "9" @default.
- W3136025385 countsByYear W31360253852021 @default.
- W3136025385 countsByYear W31360253852022 @default.
- W3136025385 countsByYear W31360253852023 @default.
- W3136025385 crossrefType "journal-article" @default.
- W3136025385 hasAuthorship W3136025385A5011048472 @default.
- W3136025385 hasAuthorship W3136025385A5012730104 @default.
- W3136025385 hasAuthorship W3136025385A5042074952 @default.
- W3136025385 hasAuthorship W3136025385A5070668609 @default.
- W3136025385 hasAuthorship W3136025385A5091016962 @default.
- W3136025385 hasBestOaLocation W31360253852 @default.
- W3136025385 hasConcept C107457646 @default.
- W3136025385 hasConcept C154945302 @default.
- W3136025385 hasConcept C15744967 @default.
- W3136025385 hasConcept C41008148 @default.
- W3136025385 hasConcept C67203356 @default.
- W3136025385 hasConcept C77805123 @default.
- W3136025385 hasConcept C97541855 @default.
- W3136025385 hasConceptScore W3136025385C107457646 @default.
- W3136025385 hasConceptScore W3136025385C154945302 @default.
- W3136025385 hasConceptScore W3136025385C15744967 @default.
- W3136025385 hasConceptScore W3136025385C41008148 @default.
- W3136025385 hasConceptScore W3136025385C67203356 @default.
- W3136025385 hasConceptScore W3136025385C77805123 @default.
- W3136025385 hasConceptScore W3136025385C97541855 @default.
- W3136025385 hasIssue "2" @default.
- W3136025385 hasLocation W31360253851 @default.
- W3136025385 hasLocation W31360253852 @default.
- W3136025385 hasOpenAccess W3136025385 @default.
- W3136025385 hasPrimaryLocation W31360253851 @default.
- W3136025385 hasRelatedWork W2185410470 @default.
- W3136025385 hasRelatedWork W260766989 @default.
- W3136025385 hasRelatedWork W2909304650 @default.
- W3136025385 hasRelatedWork W2959276766 @default.
- W3136025385 hasRelatedWork W3037422413 @default.
- W3136025385 hasRelatedWork W3111983280 @default.
- W3136025385 hasRelatedWork W3139193008 @default.
- W3136025385 hasRelatedWork W3164468573 @default.
- W3136025385 hasRelatedWork W4206669594 @default.
- W3136025385 hasRelatedWork W4295941380 @default.
- W3136025385 hasVolume "6" @default.
- W3136025385 isParatext "false" @default.
- W3136025385 isRetracted "false" @default.
- W3136025385 magId "3136025385" @default.
- W3136025385 workType "article" @default.