Gerhard Neumann

Gerhard Neumann
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Gerhard Neumann

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Computer Science - Robotics (2)
Computer Science - Learning (2)
Statistics - Machine Learning (1)

Publications Authored By Gerhard Neumann

Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e. Read More

Direct contextual policy search methods learn to improve policy parameters and simultaneously generalize these parameters to different context or task variables. However, learning from high-dimensional context variables, such as camera images, is still a prominent problem in many real-world tasks. A naive application of unsupervised dimensionality reduction methods to the context variables, such as principal component analysis, is insufficient as task-relevant input may be ignored. Read More

Many of the recent Trajectory Optimization algorithms alternate between local approximation of the dynamics and conservative policy update. However, linearly approximating the dynamics in order to derive the new policy can bias the update and prevent convergence to the optimal policy. In this article, we propose a new model-free algorithm that backpropagates a local quadratic time-dependent Q-Function, allowing the derivation of the policy update in closed form. Read More