Functional Gradient Motion Planning in Reproducing Kernel Hilbert - - PowerPoint PPT Presentation
Functional Gradient Motion Planning in Reproducing Kernel Hilbert Spaces RSS Robotics Science and Systems June 18-26, 2016 University of Michigan Joint work with: Zita Marinho Geoffrey J. Gordon (CMU) zmarinho@cmu.edu Siddhartha Srinivasa
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(b) Original CHOMP , large steps (a) RBF RKHS, large steps (c) Original CHOMP , smaller steps
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Waypoints Gaussian RBF w/ joint interactions Gaussian RBF w/ diagonal kernel
Waypoints Gaussian RBF derivative Gaussian RBF Waypoints Gaussian RBF derivative Gaussian RBF
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( RKHS derivative kernel used to grab a plate inside the microwave )
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( RKHS derivative kernel used to grab a plate inside the microwave )