RobKiNet uses exact forward kinematics in its training loss, reaching 98% distance reduction in about 4 epochs versus 322 for DDPG, with 99.25% sampling accuracy on a 9-DOF robot.
Learning feasibility for task and motion planning in tabletop environments
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Decoding RobKiNet: Insights into Efficient Training of Robotic Kinematics Informed Neural Network
RobKiNet uses exact forward kinematics in its training loss, reaching 98% distance reduction in about 4 epochs versus 322 for DDPG, with 99.25% sampling accuracy on a 9-DOF robot.