PhyPlan: Compositional and Adaptive Physical Task Reasoning with Physics-Informed Skill Networks for Robot Manipulators.
Harshil VagadiaMudit ChopraAbhinav BarnawalTamajit BanerjeeShreshth TuliSouvik ChakrabortyRohan PaulPublished in: CoRR (2024)
Keyphrases
- robot manipulators
- control of robot manipulators
- qualitative physics
- adaptive controller
- inverse kinematics
- control scheme
- trajectory planning
- dynamic model
- end effector
- knowledge base
- adaptive control
- physical models
- network structure
- reasoning processes
- machine learning
- social networks
- physical processes
- computer science
- decision making