Summary: Lehr- und Forschungsgebiet Informatik 5
Zeit: Donnerstag, 16.04.2009, 16.30 Uhr
Ort: AH I, Ahornstr. 55
Referent: Jan Peters, Ph. D.
Titel: Towards Motor Skill Learning in Robotics
Autonomous robots that can assist humans in situations of daily life have been
a long standing vision of robotics, artificial intelligence, and cognitive sciences.
A first step towards this goal is to create robots that can learn tasks triggered
by environmental context or higher level instruction. However, learning
techniques have yet to live up to this promise as only few methods manage to
scale to high-dimensional manipulator or humanoid robots. In this talk, we
investigate a general framework suitable for learning motor skills in robotics
which is based on the principles behind many analytical robotics approaches.
It involves generating a representation of motor skills by parameterized motor
primitive policies acting as building blocks of movement generation, and a
learned task execution module that transforms these movements into motor
Learning parameterized motor primitives usually requires reward-related self-