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01.09.2021 Meeting Notes

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Meeting Details

Date : 1st September 2022

Time : 11:00 – 12:00

Location : Chair of CPS, Montanuniverität Leoben

Participants: Univ.-Prof. Dr. Elmar Rueckert, Vedant Dave

Agenda

  1. Learning Consistent Forward and Inverse Dynamics.

Topic 1: Learning Forward and Inverse Dynamics with Cycle Consistency

  1. Develop a framework to learn forward and inverse model of the system simultaneously.
  2.  Search tasks where both models are required.
  3. Test on the datatset from [1].

Topic 2: Binding Simulation and Reality Gap

  1. Working with forward model in the simulation and correcting it with inverse model from real system.
  2. Develop tasks for contact 

Literature

Inverse Dynamic Predictions

  1. Elmar Rueckert et al. “Learning inverse dynamics models in O(n) time with LSTM networks”. In: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids). 2017, pp. 811–816.
  2. Vaisakh Shaj et al. “Action-Conditional Recurrent Kalman Networks For Forward and Inverse Dynamics Learning”. In: Proceedings of the 2020 Conference on Robot Learning. Ed. by Jens Kober, Fabio Ramos, and Claire Tomlin. Vol. 155. Proceedings of Machine Learning Research. PMLR, Nov. 2021, pp. 765–781.
  3. Moritz Reuss et al. “End to-End Learning of Hybrid Inverse Dynamics Models for Precise and Compliant Impedance Control”. In: Proceedings of Robotics: Science and Systems. New York City, NY, USA, June 2022.

Next Meeting

TBD