Accelerating Motion Planning for Learned Mobile Manipulation Tasks Using Task-Guided Gibbs Sampling.
Chris BowenRon AlterovitzPublished in: ISRR (2017)
Keyphrases
- manipulation tasks
- motion planning
- gibbs sampling
- degrees of freedom
- markov chain
- topic models
- mobile robot
- parameter estimation
- humanoid robot
- approximate inference
- latent dirichlet allocation
- robot arm
- path planning
- belief networks
- em algorithm
- expectation maximization
- multi robot
- robotic arm
- control law
- inverse kinematics
- markov chain monte carlo
- configuration space
- collision free
- graphical models
- collision avoidance
- computer vision