Multi-task Gaussian Process Learning of Robot Inverse Dynamics

NeurIPS 2008 Christopher WilliamsStefan KlankeSethu VijayakumarKian M. Chai

The inverse dynamics problem for a robotic manipulator is to compute the torques needed at the joints to drive it along a given trajectory; it is beneficial to be able to learn this function for adaptive control. A given robot manipulator will often need to be controlled while holding different loads in its end effector, giving rise to a multi-task learning problem... (read more)

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