arXiv:1705.05116
Tuning Modular Networks with Weighted Losses for Hand-Eye Coordination
Tuning Modular Networks with Weighted Losses for Hand-Eye Coordination
著者: Fangyi Zhang, Jürgen Leitner, Michael Milford, Peter I. Corke
分類: cs.RO, cs.AI, cs.CV, cs.LG, cs.SY, eess.SY
原文アブストラクト
This paper introduces an end-to-end fine-tuning method to improve hand-eye coordination in modular deep visuo-motor policies (modular networks) where each module is trained independently. Benefiting from weighted losses, the fine-tuning method significantly improves the performance of the policies for a robotic planar reaching task.