PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

A novel method for learning policies from variable constraint data
Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick and Sethu Vijayakumar
Autonomous Robots Volume 27, Number 2, pp. 105-121, 2009. ISSN 0929-5593


Many everyday human skills can be framed in terms of performing some task subject to constraints imposed by the environment. Constraints are usually unobservable and frequently change between contexts. In this paper, we present a novel approach for learning (unconstrained) control policies from movement data, where observations come from movements under different constraints. As a key ingredient, we introduce a small but highly effective modification to the standard risk functional, allowing us to make a meaningful comparison between the estimated policy and constrained observations. We demonstrate our approach on systems of varying complexity, including kinematic data from the ASIMO humanoid robot with 27 degrees of freedom, and present results for learning from human demonstration.

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EPrint Type:Article
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Learning/Statistics & Optimisation
Theory & Algorithms
ID Code:5896
Deposited By:Stefan Klanke
Deposited On:08 March 2010