Structured Prediction for CRiSP Inverse Kinematics Learning With Misspecified Robot Models.
Gian Maria MarconiRaffaello CamorianoLorenzo RosascoCarlo CilibertoPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- structured prediction
- inverse kinematics
- structured output
- maximum margin
- conditional random fields
- latent variables
- efficient learning
- markov networks
- robot manipulators
- robot arm
- prior knowledge
- probabilistic model
- parameter estimation
- convex optimization
- robot control
- learning algorithm
- autonomous robots
- structured prediction problems
- motion planning
- hidden variables
- learning models
- hyperplane
- vision system
- supervised learning
- support vector
- reinforcement learning