Koopman Operator–Based Knowledge-Guided Reinforcement Learning for Safe Human–Robot Interaction

Koopman Operator–Based Knowledge-Guided Reinforcement Learning for Safe Human–Robot Interaction

We developed a novel framework for deep reinforcement learning (DRL) algorithms in task constrained path generation problems of robotic manipulators leveraging human demonstrated trajectories. The main contribution of this article is to design a reward function that can be used with generic reinforc...

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Bibliographic Details
Main Authors:	Sinha, A. (Author), Wang, Y. (Author)
Format:	Article
Language:	English
Published:	Frontiers Media S.A. 2022
Subjects:	deep Q network (DQN) deep reinforcement learning (DRL) human knowledge representation Koopman operator learning from demonstration
Online Access:	View Fulltext in Publisher

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