Structured Prediction for CRiSP Inverse Kinematics Learning with Misspecified Robot Models.
Gian Maria MarconiRaffaello CamorianoLorenzo RosascoCarlo CilibertoPublished in: CoRR (2021)
Keyphrases
- structured prediction
- inverse kinematics
- structured output
- maximum margin
- conditional random fields
- robot arm
- efficient learning
- latent variables
- markov networks
- approximate inference
- structured prediction problems
- robot manipulators
- learning algorithm
- position and orientation
- higher order
- probabilistic model
- motion planning
- learning problems
- learning tasks
- parameter estimation
- end effector
- object recognition
- reinforcement learning
- hidden variables
- autonomous robots
- prior knowledge