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  From Motor Learning to Interaction Learning in Robots

Sigaud, O., & Peters, J. (2009). From Motor Learning to Interaction Learning in Robots. Proceedings of 7ème Journées Nationales de la Recherche en Robotique (JNRR 2009), 189-195.

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Sigaud, O, Autor
Peters, J1, 2, Autor           
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: The number of advanced robot systems has been increasing in recent years yielding a large variety of versatile designs with many degrees of freedom. These robots have the potential of being applicable in uncertain tasks outside well-structured industrial settings. However, the complexity of both systems and tasks is often beyond the reach of classical robot programming methods. As a result, a more autonomous solution for robot task acquisition is needed where robots adaptively adjust their behaviour to the encountered situations and required tasks. Learning approaches pose one of the most appealing ways to achieve this goal. However, while learning approaches are of high importance for robotics, we cannot simply use off-the-shelf methods from the machine learning community as these usually do not scale into the domains of robotics due to excessive computational cost as well as a lack of scalability. Instead, domain appropriate approaches are needed. We focus here on several core domains of robot learning. For accurate task execution, we need motor learning capabilities. For fast learning of the motor tasks, imitation learning offers the most promising approach. Self improvement requires reinforcement learning approaches that scale into the domain of complex robots. Finally, for efficient interaction of humans with robot systems, we will need a form of interaction learning. This contribution provides a general introduction to these issues and briefly presents the contributions of the related book chapters to the corresponding research topics.

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 Datum: 2009-11
 Publikationsstatus: Erschienen
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 Identifikatoren: URI: http://jnrr09.lms.sp2mi.univ-poitiers.fr/
BibTex Citekey: 6152
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Titel: 7ème Journées Nationales de la Recherche en Robotique
Veranstaltungsort: Neuvy-sur-Barangeon, France
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Titel: Proceedings of 7ème Journées Nationales de la Recherche en Robotique (JNRR 2009)
Genre der Quelle: Zeitschrift
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: -
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 189 - 195 Identifikator: -