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  Learning Perceptual Coupling for Motor Primitives

Kober, J., Mohler, B., & Peters, J. (2008). Learning Perceptual Coupling for Motor Primitives. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 834-839). Piscataway, NJ, USA: IEEE.

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 Creators:
Kober, J1, 2, Author              
Mohler, B2, 3, Author              
Peters, J1, 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              
3Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: Dynamic system-based motor primitives [1] have enabled robots to learn complex tasks ranging from Tennisswings to locomotion. However, to date there have been only few extensions which have incorporated perceptual coupling to variables of external focus, and, furthermore, these modifications have relied upon handcrafted solutions. Humans learn how to couple their movement primitives with external variables. Clearly, such a solution is needed in robotics. In this paper, we propose an augmented version of the dynamic systems motor primitives which incorporates perceptual coupling to an external variable. The resulting perceptually driven motor primitives include the previous primitives as a special case and can inherit some of their interesting properties. We show that these motor primitives can perform complex tasks such as Ball-in-a-Cup or Kendama task even with large variances in the initial conditions where a skilled human player would be challenged. For doing so, we initialize the motor primitives in the traditional way by imitation learning without perceptual coupling. Subsequently, we improve the motor primitives using a novel reinforcement learning method which is particularly well-suited for motor primitives.

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 Dates: 2008-09
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/IROS.2008.4650953
BibTex Citekey: 5414
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)
Place of Event: Nice, France
Start-/End Date: 2008-09-22 - 2008-09-26

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Title: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 834 - 839 Identifier: ISBN: 978-1-4244-2058-2