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  Reinforcement Learning to adjust Robot Movements to New Situations

Kober, J., Oztop, E., & Peters, J. (2011). Reinforcement Learning to adjust Robot Movements to New Situations. In T. Walsh (Ed.), Twenty-Second International Joint Conference on Artificial Intelligence (IJCAI 2011) (pp. 2650-2655). Menlo Park, CA, USA: AAAI Press.

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https://www.ijcai.org/Proceedings/2011/ (Publisher version)
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 Creators:
Kober, J1, 2, 3, Author              
Oztop, E, Author
Peters, J1, 2, 3, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497647              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Many complex robot motor skills can be represented using elementary movements, and there exist efficient techniques for learning parametrized motor plans using demonstrations and self-improvement. However with current techniques, in many cases, the robot currently needs to learn a new elementary movement even if a parametrized motor plan exists that covers a related situation. A method is needed that modulates the elementary movement through the meta-parameters of its representation. In this paper, we describe how to learn such mappings from circumstances to meta-parameters using reinforcement learning. In particular we use a kernelized version of the reward-weighted regression. We show two robot applications of the presented setup in robotic domains; the generalization of throwing movements in darts, and of hitting movements in table tennis. We demonstrate that both tasks can be learned successfully using simulated and real robots.

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 Dates: 2011-07
 Publication Status: Published in print
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 Rev. Type: -
 Identifiers: BibTex Citekey: KoberOP2011
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Title: Twenty-Second International Joint Conference on Artificial Intelligence (IJCAI 2011)
Place of Event: Barcelona, Spain
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Title: Twenty-Second International Joint Conference on Artificial Intelligence (IJCAI 2011)
Source Genre: Proceedings
 Creator(s):
Walsh, T, Editor
Affiliations:
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Publ. Info: Menlo Park, CA, USA : AAAI Press
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 2650 - 2655 Identifier: ISBN: 978-1-57735-512-0