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  Learning anticipation policies for robot table tennis

Wang, Z., Lampert, C., Mülling, K., Schölkopf, B., & Peters, J. (2011). Learning anticipation policies for robot table tennis. In N. Amato (Ed.), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 332-337). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BA4E-6 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-F2E4-C
Genre: Conference Paper

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 Creators:
Wang, Z1, Author              
Lampert, CH, Author              
Mülling, K1, Author              
Schölkopf, B1, Author              
Peters, J1, Author              
Affiliations:
1Dept. Empirical Inference, Max Planck Institute for Intelligent System, Max Planck Society, ou_1497647              

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 Abstract: Playing table tennis is a difficult task for robots, especially due to their limitations of acceleration. A key bottleneck is the amount of time needed to reach the desired hitting position and velocity of the racket for returning the incoming ball. Here, it often does not suffice to simply extrapolate the ball's trajectory after the opponent returns it but more information is needed. Humans are able to predict the ball's trajectory based on the opponent's moves and, thus, have a considerable advantage. Hence, we propose to incorporate an anticipation system into robot table tennis players, which enables the robot to react earlier while the opponent is performing the striking movement. Based on visual observation of the opponent's racket movement, the robot can predict the aim of the opponent and adjust its movement generation accordingly. The policies for deciding how and when to react are obtained by reinforcement learning. We conduct experiments with an existing robot player to show that the learned reaction policy can significantly improve the performance of the overall system.

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 Dates: 2011-09
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: DOI: 10.1109/IROS.2011.6094892
BibTex Citekey: WangLMSP2011
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Place of Event: San Francisco, CA, USA
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Source Genre: Proceedings
 Creator(s):
Amato, NM, Editor
Affiliations:
-
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 332 - 337 Identifier: ISBN: 978-1-61284-454-1