Semi-parametric Gaussian process regression yields the most accurate inverse dynamics models in most tested robotic scenarios compared to parametric, non-parametric, and other semi-parametric baselines.
Using model knowledge for learning inverse dynamics,
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Comparing Semi-Parametric Model Learning Algorithms for Dynamic Model Estimation in Robotics
Semi-parametric Gaussian process regression yields the most accurate inverse dynamics models in most tested robotic scenarios compared to parametric, non-parametric, and other semi-parametric baselines.