PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Learning to Control a Low-Cost Manipulator using Data-Efficient Reinforcement Learning
Marc P Deisenroth, Carl Edward Rasmussen and Dieter Fox
In: Robotics: Science & Systems, June 27 - July 1 2011, Los Angeles, CA, USA.

Abstract

Over the last years, there has been substantial progress in robust manipulation in unstructured environments. The long-term goal of our work is to get away from precise, but very expensive robotic systems and to develop affordable, potentially imprecise, self-adaptive manipulator systems that can interactively perform tasks such as playing with children. In this paper, we demonstrate how a low-cost off-the-shelf robotic system can learn closed-loop policies for a stacking task in only a handful of trials—from scratch. Our manipulator is inaccurate and provides no pose feedback. For learning a controller in the work space of a Kinect-style depth camera, we use a model-based reinforcement learning technique. Our learning method is data efficient, reduces model bias, and deals with several noise sources in a principled way during long-term planning. We present a way of incorporating state-space constraints into the learning process and analyze the learning gain by exploiting the sequential structure of the stacking task.

PDF - Requires Adobe Acrobat Reader or other PDF viewer.
EPrint Type:Conference or Workshop Item (Paper)
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Computational, Information-Theoretic Learning with Statistics
Learning/Statistics & Optimisation
Theory & Algorithms
ID Code:8309
Deposited By:Marc Deisenroth
Deposited On:19 October 2011