Variational Inference with Mixture Model Approximation for Applications in Robotics

Need to find all the solutions of a multi-objective inverse kinematics problem? In this work, we reformulated this problem as a product of experts approximation using variational inference. A python/tensorflow library, with jupyter notebook examples, are provided to facilitate the exploitation of this approach in other problems (by providing a URDF file).

Related publication: Pignat, E., Lembono, T.S. and Calinon, S. (2020). Variational Inference with Mixture Model Approximation for Applications in Robotics. In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA).

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