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  Learning elementary movements jointly with a higher level task

Kober, J., & Peters, J. (2011). Learning elementary movements jointly with a higher level task. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) (pp. 338-343). Piscataway, NJ, USA: IEEE.

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 Urheber:
Kober, J1, Autor           
Peters, J1, 2, Autor           
Amato, N.M., Herausgeber
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497647              

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 Zusammenfassung: Many motor skills consist of many lower level elementary movements that need to be sequenced in order to achieve a task. In order to learn such a task, both the primitive movements as well as the higher-level strategy need to be acquired at the same time. In contrast, most learning approaches focus either on learning to combine a fixed set of options or to learn just single options. In this paper, we discuss a new approach that allows improving the performance of lower level actions while pursuing a higher level task. The presented approach is applicable to learning a wider range motor skills, but in this paper, we employ it for learning games where the player wants to improve his performance at the individual actions of the game while still performing well at the strategy level game. We propose to learn the lower level actions using Cost-regularized Kernel Regression and the higher level actions using a form of Policy Iteration. The two approaches are coupled by their transition probabilities. We evaluate the approach on a side-stall-style throwing game both in simulation and with a real BioRob.

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 Datum: 2011-09
 Publikationsstatus: Erschienen
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 Identifikatoren: ISBN: 978-1-61284-454-1
URI: http://www.iros2011.org/
DOI: 10.1109/IROS.2011.6094834
BibTex Citekey: KoberP2011
 Art des Abschluß: -

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Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Veranstaltungsort: San Francisco, CA, USA
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Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 338 - 343 Identifikator: -