Robot Program Parameter Inference via Differentiable Shadow Program Inversion
Benjamin Alt Darko Katic Rainer Jäkel Asil Kaan Bozcuoglu Michael Beetz Benjamin Alt Darko Katic Rainer Jäkel Asil Kaan Bozcuoglu Michael Beetz
Challenging manipulation tasks can be solved effectively by combining individual robot skills, which must be parameterized for the concrete physical environment and task at hand. This is time-consuming and difficult for human programmers, particularly for force-controlled skills. To this end, we present Shadow Program Inversion (SPI), a novel approach to infer optimal skill parameters directly fro...