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TASK SPACE ARE RIEMANNIAN MANIFOLDS Generalize the notion of straight using Riemannian geometry
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Classroom Contents
Fall 2019 Robotics Seminar - NVIDIA Robotics Lab Part II
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- 1 Intro
- 2 MOTIVATION
- 3 OVERVIEW
- 4 GRASP SAMPLER
- 5 STRUCTURED LATENT SPACE
- 6 GRASP EVALUATOR
- 7 GRASP REFINMENT
- 8 TRAINING
- 9 ABLATION STUDIES
- 10 LEARNED SAMPLER VS GEOMETRIC SAMPLER Geometric Sampler
- 11 FAILURE CASES Some of the failures are because of hand-eye calibration error
- 12 EXTENSION TO CLUTTERED SCENES
- 13 EXAMPLE: CLEARING TABLE
- 14 REMOVING BLOCKER OBJECT
- 15 EXTENSION TO OBJECT PLACEMENT
- 16 CONCLUSIONS
- 17 OPERATIONAL SPACE CONTROL Start from a technique we know to be fundamentally reactive.
- 18 RIEMANNIAN MOTION POLICIES Encoding behavior into the fabric of the task space
- 19 TASK SPACE ARE RIEMANNIAN MANIFOLDS Generalize the notion of straight using Riemannian geometry
- 20 OBSTACLE DAMPING Damp velocity components in the direction of obstacles
- 21 LEARNING FROM HUMAN DEMONSTRATIONS
- 22 LEARNING RIEMANNIAN METRIC
