Autonomous exploration of motor skills by skill babbling

Reinhart F (2017)
AUTONOMOUS ROBOTS 41(7): 1521-1537.

Download
No fulltext has been uploaded. References only!
Journal Article | Original Article | Published | English

No fulltext has been uploaded

Abstract
Autonomous exploration of motor skills is a key capability of learning robotic systems. Learning motor skills can be formulated as inverse modeling problem, which targets at finding an inverse model that maps desired outcomes in some task space, e.g., via points of a motion, to appropriate actions, e.g., motion control policy parameters. In this paper, autonomous exploration of motor skills is achieved by incrementally learning inverse models starting from an initial demonstration. The algorithm is referred to as skill babbling, features sample-efficient learning, and scales to high-dimensional action spaces. Skill babbling extends ideas of goal-directed exploration, which organizes exploration in the space of goals. The proposed approach provides a modular framework for autonomous skill exploration by separating the learning of the inverse model from the exploration mechanism and a model of achievable targets, i.e. the workspace. The effectiveness of skill babbling is demonstrated for a range of motor tasks comprising the autonomous bootstrapping of inverse kinematics and parameterized motion primitives.
Publishing Year
ISSN
eISSN
PUB-ID

Cite this

Reinhart F. Autonomous exploration of motor skills by skill babbling. AUTONOMOUS ROBOTS. 2017;41(7):1521-1537.
Reinhart, F. (2017). Autonomous exploration of motor skills by skill babbling. AUTONOMOUS ROBOTS, 41(7), 1521-1537. doi:10.1007/s10514-016-9613-x
Reinhart, F. (2017). Autonomous exploration of motor skills by skill babbling. AUTONOMOUS ROBOTS 41, 1521-1537.
Reinhart, F., 2017. Autonomous exploration of motor skills by skill babbling. AUTONOMOUS ROBOTS, 41(7), p 1521-1537.
F. Reinhart, “Autonomous exploration of motor skills by skill babbling”, AUTONOMOUS ROBOTS, vol. 41, 2017, pp. 1521-1537.
Reinhart, F.: Autonomous exploration of motor skills by skill babbling. AUTONOMOUS ROBOTS. 41, 1521-1537 (2017).
Reinhart, Felix. “Autonomous exploration of motor skills by skill babbling”. AUTONOMOUS ROBOTS 41.7 (2017): 1521-1537.
This data publication is cited in the following publications:
This publication cites the following data publications:

Export

0 Marked Publications

Open Data PUB

Web of Science

View record in Web of Science®

Search this title in

Google Scholar