Using Implicit Behavior Cloning and Dynamic Movement Primitive to Facilitate Reinforcement Learning for Robot Motion Planning

no code implementations • 29 Jul 2023 • Zengjie Zhang, Jayden Hong, Amir Soufi Enayati, Homayoun Najjaran

Reinforcement learning (RL) for motion planning of multi-degree-of-freedom robots still suffers from low efficiency in terms of slow training speed and poor generalizability.

Motion Planning Reinforcement Learning (RL)

Human-Robot Skill Transfer with Enhanced Compliance via Dynamic Movement Primitives

no code implementations • 12 Apr 2023 • Jayden Hong, Zengjie Zhang, Amir M. Soufi Enayati, Homayoun Najjaran

Our contribution is introducing a systematic method to extract the dynamic features from human demonstration to auto-tune the parameters in the DMP framework.

Reinforcement Learning (RL) Trajectory Planning