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  Policy Learning: A Unified Perspective with Applications in Robotics

Peters, J., Kober, J., & Nguyen-Tuong, D. (2008). Policy Learning: A Unified Perspective with Applications in Robotics. In S. Girgin, M. Loth, R. Munos, P. Preux, & D. Ryabko (Eds.), Recent Advances in Reinforcement Learning: 8th European Workshop, EWRL 2008, Villeneuve d’Ascq, France, June 30-July 3, 2008 (pp. 220-228). Berlin, Germany: Springer.

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 Creators:
Peters, J1, 2, Author              
Kober, J1, 2, Author              
Nguyen-Tuong, D1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Policy Learning approaches are among the best suited methods for high-dimensional, continuous control systems such as anthropomorphic robot arms and humanoid robots. In this paper, we show two contributions: firstly, we show a unified perspective which allows us to derive several policy learning algorithms from a common point of view, i.e, policy gradient algorithms, natural-gradient algorithms and EM-like policy learning. Secondly, we present several applications to both robot motor primitive learning as well as to robot control in task space. Results both from simulation and several different real robots are shown.

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 Dates: 2008-11
 Publication Status: Published in print
 Pages: -
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 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-540-89722-4_17
BibTex Citekey: 5177
 Degree: -

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Title: 8th European Workshop on Reinforcement Learning (EWRL 2008)
Place of Event: Villeneuve d‘Ascq, France
Start-/End Date: 2008-06-30 - 2008-07-03

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Title: Recent Advances in Reinforcement Learning: 8th European Workshop, EWRL 2008, Villeneuve d’Ascq, France, June 30-July 3, 2008
Source Genre: Proceedings
 Creator(s):
Girgin, S, Editor
Loth, M, Editor
Munos, R, Editor
Preux, P, Editor
Ryabko, D, Editor
Affiliations:
-
Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 220 - 228 Identifier: ISBN: 978-3-540-89721-7

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Title: Lecture Notes in Computer Science
Source Genre: Series
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Publ. Info: -
Pages: - Volume / Issue: 5323 Sequence Number: - Start / End Page: - Identifier: -

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Title: Lecture Notes in Artificial Intelligence
Source Genre: Series
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Pages: - Volume / Issue: 5323 Sequence Number: - Start / End Page: - Identifier: -