PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Towards Machine Learning of Motor Skills
Jan Peters, Bernhard Schoelkopf and Stefan Schaal
In: Autonome Mobile Systeme (AMS 2007), 15. October 2007, Kaiserslautern, Germany.

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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EPrint Type:Conference or Workshop Item (Paper)
Additional Information:http://www-clmc.usc.edu/publications//P/Peters_POAMS_2007.pdf
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Learning/Statistics & Optimisation
Haptics
ID Code:3590
Deposited By:Jan Peters
Deposited On:13 February 2008