We develop a novel policy synthesis algorithm, RMPflow, based on geometrically consistent transformations of Riemannian Motion Policies (RMPs).
Robotics Systems and Control
In doing so, we are able to change the distribution of simulations to improve the policy transfer by matching the policy behavior in simulation and the real world.
To address this issue, we show how a recently published robustification method for Gaussian filters can be applied to the problem at hand.
The contribution of this paper is to show that any Gaussian filter can be made compatible with fat-tailed sensor models by applying one simple change: Instead of filtering with the physical measurement, we propose to filter with a pseudo measurement obtained by applying a feature function to the physical measurement.