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  Towards Machine Learning of Motor Skills

Peters, J., Schaal, S., & Schölkopf, B. (2007). Towards Machine Learning of Motor Skills. In K. Berns, & T. Lucksch (Eds.), Autonome Mobile Systeme 2007: 20. Fachgespräch Kaiserslautern, 18./19. Oktober 2007 (pp. 138-144). Berlin, Germany: Springer.

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 Creators:
Peters, J1, 2, Author              
Schaal, S, Author              
Schölkopf, B1, 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: Autonomous robots that can adapt to novel situations has been a long standing vision of robotics, artificial intelligence, and cognitive sciences. Early approaches to this goal during the heydays of artificial intelligence research in the late 1980s, however, made it clear that an approach purely based on reasoning or human insights would not be able to model all the perceptuomotor tasks that a robot should fulfill. Instead, new hope was put in the growing wake of machine learning that promised fully adaptive control algorithms which learn both by observation and trial-and-error. However, to date, learning techniques have yet to fulfill this promise as only few methods manage to scale into the high-dimensional domains of manipulator robotics, or even the new upcoming trend of humanoid robotics, and usually scaling was only achieved in precisely pre-structured domains. In this paper, we investigate the ingredients for a general approach to motor skill learning in order to get one step closer towards human-like performance. For doing so, we study two ma jor components for such an approach, i.e., firstly, a theoretically well-founded general approach to representing the required control structures for task representation and execution and, secondly, appropriate learning algorithms which can be applied in this setting.

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 Dates: 2007-10
 Publication Status: Published in print
 Pages: -
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 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-540-74764-2_22
BibTex Citekey: 4720
 Degree: -

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Title: 20. Fachgespräch Autonome Mobile Systeme 2007
Place of Event: Kaiserslautern, Germany
Start-/End Date: 2007-10-18 - 2007-10-19

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Title: Autonome Mobile Systeme 2007: 20. Fachgespräch Kaiserslautern, 18./19. Oktober 2007
Source Genre: Proceedings
 Creator(s):
Berns, K, Editor
Lucksch, T, Editor
Affiliations:
-
Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 138 - 144 Identifier: ISBN: 978-3-540-74763-5

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Title: Informatik aktuell
Source Genre: Series
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