Search Results for author: Julen Urain

Found 5 papers, 0 papers with code

Learning Implicit Priors for Motion Optimization

no code implementations11 Apr 2022 Alexander Lambert, An T. Le, Julen Urain, Georgia Chalvatzaki, Byron Boots, Jan Peters

In this paper, we focus on the problem of integrating Energy-based Models (EBM) as guiding priors for motion optimization.

Learning Stable Vector Fields on Lie Groups

no code implementations22 Oct 2021 Julen Urain, Davide Tateo, Jan Peters

Learning robot motions from demonstration requires having models that are able to represent vector fields for the full robot pose when the task is defined in operational space.

ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows

no code implementations25 Oct 2020 Julen Urain, Michelle Ginesi, Davide Tateo, Jan Peters

We introduce ImitationFlow, a novel Deep generative model that allows learning complex globally stable, stochastic, nonlinear dynamics.

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