Juan D. Muñoz Osorio — accepted AI-conference papers

2020

Sim2Real Transfer for Reinforcement Learning without Dynamics Randomization

Manuel Kaspar, Juan D. Muñoz Osorio, Juergen Bock

IROS 2020poster

We show how to use the Operational Space Control framework (OSC) under joint and Cartesian constraints for reinforcement learning in Cartesian space. Our method is able to learn fast and with adjustable degrees of freedom, while we are able to transfer policies without additional dynamics randomizat…

Cited by 128 Source ↗Scholar ↗

2020

Unilateral Constraints for Torque-based Whole-Body Control

Juan D. Muñoz Osorio, Abdelrahman Abdelazim, Felix Allmendinger, Uwe E. Zimmermann

IROS 2020poster

This work uses quadratic programming to perform torque control on an industrial collaborative robot, while keeping defined constraints. Limits for rotational and translational coordinates are considered at position, velocity and acceleration level. Although the problem of having hardware and safe li…

Cited by 4 Source ↗Scholar ↗