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Thomas Nierhoff

2 accepted papers

2022

Learning Synthetic Environments and Reward Networks for Reinforcement Learning

ICLR 2022poster

We introduce Synthetic Environments (SEs) and Reward Networks (RNs), represented by neural networks, as proxy environment models for training Reinforcement Learning (RL) agents. We show that an agent, after being trained exclusively on the SE, is able to solve the corresponding real environment. Whi…

2015

Online deformation of optimal trajectories for constrained nonprehensile manipulation

ICRA 2015poster

This paper discusses an online dynamic motion generation scheme for nonprehensile object manipulation by using a set of predefined motions and a trajectory deformation algorithm capable of incorporating positional and velocity boundary constraints. By creating optimal trajectories offline and deform…

Cited by 14SourceScholar