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Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table.
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Reinforcement learning in multidimensional continuous action spaces
J. Pazis and M. G. Lagoudakis · 2011
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L. Sciavicco and B. Siciliano · 2012
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Adaptation of manipulation skills in physical contact with the environment to reference force profiles
F. J. Abu-Dakka, B. Nemec, J. A. Jørgensen, T. R. Savarimuthu, N. Krüger, and A. Ude · 2015
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J. Kober, M. Gienger, and J. J. Steil · 2015
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Task parameterization using continuous constraints extracted from human demonstrations
A. L. P. Ureche, K. Umezawa, Y. Nakamura, and A. Billard · 2015
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An overview of null space projections for redundant, torque-controlled robots
Hierarchical tracking task control in redundant manipulators with compliance control in the null-space
A. Karami, H. Sadeghian, M. Keshmiri, and G. Oriolo · 2018
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Taco: Learning task decomposition via temporal alignment for control
K. Shiarlis, M. Wulfmeier, S. Salter, S. Whiteson, and I. Posner · 2018
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Stable baselines
A. Hill, A. Raffin, M. Ernestus, A. Gleave, A. Kanervisto, R. Traore, P. Dhariwal, C. Hesse, O. Klimov, A. Nichol, M. Plappert, A. Radford, J. Schulman, S. Sidor, and Y. Wu · 2018
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Gpu-accelerated robotic simulation for distributed reinforcement learning
J. Liang, V. Makoviychuk, A. Handa, N. Chentanez, M. Macklin, and D. Fox · 2018
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Learning task constraints from demonstration for hybrid force/position control
A. Conkey and T. Hermans · 2019
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A. Dietrich, C. Ott, and A. Albu-Schäffer · 2015
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J. E. King, M. Cognetti, and S. S. Srinivasa · 2016
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Probabilistic inference for determining options in reinforcement learning
C. Daniel, H. Van Hoof, J. Peters, and G. Neumann · 2016
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A method for derivation of robot task-frame control authority from repeated sensory observations
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Directed-info GAIL: Learning hierarchical policies from unsegmented demonstrations using directed information
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Self-supervised exploration via disagreement
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Object-centric task and motion planning in dynamic environments
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