Incremental Bootstrapping of Parameterized Motor Skills

Queißer J, Reinhart F, Steil JJ (2016)
In: Proc. IEEE Humanoids. IEEE.

Konferenzbeitrag | Veröffentlicht | Englisch
 
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Abstract / Bemerkung
Many motor skills have an intrinsic, low-dimensional parameterization, e.g. reaching through a grid to different targets. Repeated policy search for new parameterizations of such a skill is inefficient, because the structure of the skill variability is not exploited. This issue has been previously addressed by learning mappings from task parameters to policy parameters. In this work, we introduce a bootstrapping technique that establishes such parameterized skills incrementally. The approach combines iterative learning with state-of-the-art black-box policy optimization. We investigate the benefits of incrementally learning parameterized skills for efficient policy retrieval and show that the number of required rollouts can be significantly reduced when optimizing policies for novel tasks. The approach is demonstrated for several parameterized motor tasks including upper-body reaching motion generation for the humanoid robot COMAN.
Stichworte
memory; parameterization; optimization; learning
Erscheinungsjahr
2016
Titel des Konferenzbandes
Proc. IEEE Humanoids
Konferenz
IEEE-RAS International Conference on Humanoid Robots
Konferenzort
Cancun, Mexico
Konferenzdatum
2016-11-15 – 2016-11-17
Page URI
https://pub.uni-bielefeld.de/record/2906897

Zitieren

Queißer J, Reinhart F, Steil JJ. Incremental Bootstrapping of Parameterized Motor Skills. In: Proc. IEEE Humanoids. IEEE; 2016.
Queißer, J., Reinhart, F., & Steil, J. J. (2016). Incremental Bootstrapping of Parameterized Motor Skills. Proc. IEEE Humanoids IEEE. doi:10.1109/HUMANOIDS.2016.7803281
Queißer, J., Reinhart, F., and Steil, J. J. (2016). “Incremental Bootstrapping of Parameterized Motor Skills” in Proc. IEEE Humanoids (IEEE).
Queißer, J., Reinhart, F., & Steil, J.J., 2016. Incremental Bootstrapping of Parameterized Motor Skills. In Proc. IEEE Humanoids. IEEE.
J. Queißer, F. Reinhart, and J.J. Steil, “Incremental Bootstrapping of Parameterized Motor Skills”, Proc. IEEE Humanoids, IEEE, 2016.
Queißer, J., Reinhart, F., Steil, J.J.: Incremental Bootstrapping of Parameterized Motor Skills. Proc. IEEE Humanoids. IEEE (2016).
Queißer, Jeffrey, Reinhart, Felix, and Steil, Jochen J. “Incremental Bootstrapping of Parameterized Motor Skills”. Proc. IEEE Humanoids. IEEE, 2016.
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2019-09-25T06:41:04Z
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