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Learning Motor Skills [electronic resource] :From Algorithms to Robot Experiments / by Jens Kober, Jan Peters.

by Kober, Jens [author.]; Peters, Jan [author.]; SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Springer Tracts in Advanced Robotics: 97Publisher: Cham : Springer International Publishing : 2014.Description: XVI, 191 p. 56 illus., 54 illus. in color. online resource.ISBN: 9783319031941.Subject(s): Engineering | Artificial intelligence | Engineering | Robotics and Automation | Artificial Intelligence (incl. Robotics)DDC classification: 629.892 Online resources: Click here to access online
Contents:
Reinforcement Learning in Robotics: A Survey -- Movement Templates for Learning of Hitting and Batting -- Policy Search for Motor Primitives in Robotics -- Reinforcement Learning to Adjust Parameterized Motor Primitives to New Situations -- Learning Prioritized Control of Motor Primitives.
In: Springer eBooksSummary: This book presents the state of the art in reinforcement learning applied to robotics both in terms of novel algorithms and applications. It discusses recent approaches that allow robots to learn motor skills and presents tasks that need to take into account the dynamic behavior of the robot and its environment, where a kinematic movement plan is not sufficient. The book illustrates a method that learns to generalize parameterized motor plans which is obtained by imitation or reinforcement learning, by adapting a small set of global parameters, and appropriate kernel-based reinforcement learning algorithms. The presented applications explore highly dynamic tasks and exhibit a very efficient learning process. All proposed approaches have been extensively validated with benchmarks tasks, in simulation, and on real robots. These tasks correspond to sports and games but the presented techniques are also applicable to more mundane household tasks. The book is based on the first author’s doctoral thesis, which won the 2013 EURON Georges Giralt PhD Award.
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T59.5 (Browse shelf) Available
Long Loan MAIN LIBRARY
TJ210.2-211.495 (Browse shelf) Available

Reinforcement Learning in Robotics: A Survey -- Movement Templates for Learning of Hitting and Batting -- Policy Search for Motor Primitives in Robotics -- Reinforcement Learning to Adjust Parameterized Motor Primitives to New Situations -- Learning Prioritized Control of Motor Primitives.

This book presents the state of the art in reinforcement learning applied to robotics both in terms of novel algorithms and applications. It discusses recent approaches that allow robots to learn motor skills and presents tasks that need to take into account the dynamic behavior of the robot and its environment, where a kinematic movement plan is not sufficient. The book illustrates a method that learns to generalize parameterized motor plans which is obtained by imitation or reinforcement learning, by adapting a small set of global parameters, and appropriate kernel-based reinforcement learning algorithms. The presented applications explore highly dynamic tasks and exhibit a very efficient learning process. All proposed approaches have been extensively validated with benchmarks tasks, in simulation, and on real robots. These tasks correspond to sports and games but the presented techniques are also applicable to more mundane household tasks. The book is based on the first author’s doctoral thesis, which won the 2013 EURON Georges Giralt PhD Award.

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