Learning Motor Skills: From Algorithms to Robot Experiments

✍ Scribed by Jens Kober, Jan Peters (auth.)

• Publisher: Springer International Publishing
• Year: 2014
• Tongue: English
• Leaves: 201
• Series: Springer Tracts in Advanced Robotics 97
• Edition: 1
• Category: Library

✦ Synopsis

This book presents the state of the art in reinforcement learning applied to robotics both in terms of novel algorithms and applications. It discusses recent approaches that allow robots to learn motor.

skills and presents tasks that need to take into account the dynamic behavior of the robot and its environment, where a kinematic movement plan is not sufficient. The book illustrates a method that learns to generalize parameterized motor plans which is obtained by imitation or reinforcement learning, by adapting a small set of global parameters and appropriate kernel-based reinforcement learning algorithms. The presented applications explore highly dynamic tasks and exhibit a very efficient learning process. All proposed approaches have been extensively validated with benchmarks tasks, in simulation and on real robots. These tasks correspond to sports and games but the presented techniques are also applicable to more mundane household tasks. The book is based on the first author’s doctoral thesis, which won the 2013 EURON Georges Giralt PhD Award.

✦ Table of Contents

Front Matter....Pages 1-15
Introduction....Pages 1-7
Reinforcement Learning in Robotics: A Survey....Pages 9-67
Movement Templates for Learning of Hitting and Batting....Pages 69-82
Policy Search for Motor Primitives in Robotics....Pages 83-117
Reinforcement Learning to Adjust Parametrized Motor Primitives to New Situations....Pages 119-147
Learning Prioritized Control of Motor Primitives....Pages 149-160
Conclusion....Pages 161-167
Back Matter....Pages 169-190

✦ Subjects

Robotics and Automation; Artificial Intelligence (incl. Robotics)