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RMP2: A Structured Composable Policy Class for Robot Learning
Using RMPflow as a structured policy class in learning has several benefits, such as sufficient expressiveness, the flexibility to inject different levels of prior knowledge as well as the ability to transfer policies between robots.
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
The policy structure provides the user an interface to 1) specifying the spaces that are directly relevant to the completion of the tasks, and 2) designing policies for certain tasks that do not need to be learned.
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