# Compensation for undefined behaviors during robot task execution by switching controllers depending on embedded dynamics in RNN

arXiv: https://arxiv.org/abs/2003.04862 · HTML: https://mlsanity.com/paper/2003.04862/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Mar 2020.

## Built on by (most cited first, 2 of 2)

- [In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning](https://mlsanity.com/paper/2103.09402/) (2021)
- [A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data](https://mlsanity.com/paper/2203.00041/) (2022)

## Abstract (arXiv)

Robotic applications require both correct task performance and compensation for undefined behaviors. Although deep learning is a promising approach to perform complex tasks, the response to undefined behaviors that are not reflected in the training dataset remains challenging. In a human-robot collaborative task, the robot may adopt an unexpected posture due to collisions and other unexpected events. Therefore, robots should be able to recover from disturbances for completing the execution of the intended task. We propose a compensation method for undefined behaviors by switching between two controllers. Specifically, the proposed method switches between learning-based and model-based controllers depending on the internal representation of a recurrent neural network that learns task dynamics. We applied the proposed method to a pick-and-place task and evaluated the compensation for undefined behaviors. Experimental results from simulations and on a real robot demonstrate the effectiveness and high performance of the proposed method.