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Piecewise linear regressions for approximating distance metrics
This paper presents a data structure that summarizes distances between configurations across a robot configuration space, using a binary space partition whose cells contain parameters used for a locally linear approximation of the distance function.
Towards Physically Safe Reinforcement Learning under Supervision
A weighted average of the supervisor and learned policies is used during trials, with a heavier weight initially on the supervisor, in order to allow safe and useful physical trials while the learned policy is still ineffective.
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