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Empirical Inference Article 2009

Policy Search for Motor Primitives

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Empirical Inference
Jan Peters
Research Group Leader
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Empirical Inference
Jens Kober

Many motor skills in humanoid robotics can be learned using parametrized motor primitives from demonstrations. However, most interesting motor learning problems require self-improvement often beyond the reach of current reinforcement learning methods due to the high dimensionality of the state-space. We develop an EM-inspired algorithm applicable to complex motor learning tasks. We compare this algorithm to several well-known parametrized policy search methods and show that it outperforms them. We apply it to motor learning problems and show that it can learn the complex Ball-in-a-Cup task using a real Barrett WAM robot arm.

Author(s): Peters, J. and Kober, J.
Journal: KI - Zeitschrift K{\"u}nstliche Intelligenz
Volume: 23
Number (issue): 3
Pages: 38-40
Year: 2009
Month: August
Day: 0
Bibtex Type: Article (article)
Digital: 0
Electronic Archiving: grant_archive
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik
Links:

BibTex 

@article{6871,
  title = {Policy Search for Motor Primitives},
  journal = {KI - Zeitschrift K{\"u}nstliche Intelligenz},
  abstract = {Many motor skills in humanoid robotics can be learned using parametrized motor primitives from demonstrations. However, most interesting motor learning problems require self-improvement often beyond the reach of current reinforcement learning methods due to the high dimensionality of the state-space. We develop an EM-inspired algorithm applicable to complex motor learning tasks. We compare this algorithm to several well-known parametrized policy search methods and show that it outperforms them. We apply it to motor learning problems and show that it can learn the complex Ball-in-a-Cup task using a real Barrett WAM robot arm.},
  volume = {23},
  number = {3},
  pages = {38-40},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  month = aug,
  year = {2009},
  slug = {6871},
  author = {Peters, J. and Kober, J.},
  month_numeric = {8}
}