Differentiable Algorithm Networks for Composable Robot Learning

28 May 2019Peter KarkusXiao MaDavid HsuLeslie Pack KaelblingWee Sun LeeTomas Lozano-Perez

This paper introduces the Differentiable Algorithm Network (DAN), a composable architecture for robot learning systems. A DAN is composed of neural network modules, each encoding a differentiable robot algorithm and an associated model; and it is trained end-to-end from data... (read more)

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