Author

J. Heald

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Joint-Space Empowerment: Discovering Low-Dimensional Action Manifolds for Dexterous Manipulation

This work introduces Joint-Space Empowerment (JoSE), a novel information-theoretic objective that quantifies how much control an agent has over its mechanical degrees-of-freedom, and derives an optimal precoder in closed form under control-affine Gaussian dynamics.

J. Heald, V. Caggiano, VikashKumar et al. · 0 citations