Learning modular policies for robotics

Neumann, G., Daniel, C., Paraschos, A., Kupcsik, A. and Peters, J. (2014) Learning modular policies for robotics. Frontiers in Computational Neuroscience, 8 (JUN). ISSN 1662-5188

Full content URL: http://journal.frontiersin.org/article/10.3389/fnc...

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Abstract

A promising idea for scaling robot learning to more complex tasks is to use elemental behaviors as building blocks to compose more complex behavior. Ideally, such building blocks are used in combination with a learning algorithm that is able to learn to select, adapt, sequence and co-activate the building blocks. While there has been a lot of work on approaches that support one of these requirements, no learning algorithm exists that unifies all these properties in one framework. In this paper we present our work on a unified approach for learning such a modular control architecture. We introduce new policy search algorithms that are based on information-theoretic principles and are able to learn to select, adapt and sequence the building blocks. Furthermore, we developed a new representation for the individual building block that supports co-activation and principled ways for adapting the movement. Finally, we summarize our experiments for learning modular control architectures in simulation and with real robots.

Keywords:Modularity, Movement Control, Robotics, JCOpen
Subjects:H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G760 Machine Learning
Divisions:College of Science > School of Computer Science
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ID Code:25765
Deposited On:17 Jan 2017 16:09

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