Learning perceptual coupling for motor primitives

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 834-839

  Kober, Jens ^a   Mohler, Betty ^a   Peters, Jan ^a  

^a MAX PLANCK INSTITUTE FOR BIOLOGICAL CYBERNETICS   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLEX TASK; DYNAMIC SYSTEMS; HUMAN PLAYERS; IMITATION LEARNING; INITIAL CONDITIONS; MOTOR PRIMITIVES; REINFORCEMENT LEARNING METHOD;

DYNAMIC PROGRAMMING; DYNAMICAL SYSTEMS; INTELLIGENT ROBOTS; MOTORS; REINFORCEMENT;

AUTOMOBILE EXHIBITIONS;

EID: 67650835709     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4650953     Document Type: Conference Paper

References (18)

1. J. A. Ijspeert, J. Nakanishi, and S. Schaal, "Movement imitation with nonlinear dynamical systems in humanoid robots," in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Washinton, DC, May 11-15 2002, pp. 1398-1403. (Pubitemid 34916443)
2. A. Ijspeert, J. Nakanishi, and S. Schaal, "Learning attractor landscapes for learning motor primitives," in Advances in Neural Information Processing Systems, S. Becker, S. Thrun, and K. Obermayer, Eds., vol.15. Cambridge, MA: MIT Press, 2003, pp. 1547-1554.
3. S. Schaal, J. Peters, J. Nakanishi, and A. Ijspeert, "Control, planning, learning, and imitation with dynamic movement primitives," in Workshop on Bilateral Paradigms on Humans and Humanoids, IEEE International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, Oct. 27-31, 2003.
4. S. Schaal, P. Mohajerian, and A. Ijspeert, "Dynamics systems vs. optimal control - a unifying view," Progress in Brain Research, vol.165, no.1, pp. 425-445, 2007. (Pubitemid 47513886)
5. J. Peters and S. Schaal, "Policy gradient methods for robotics," in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, 2006, pp. 2219-2225.
6. D. Pongas, A. Billard, and S. Schaal, "Rapbid synchronization and accurate phase-locking of rhythmic motor primitives," in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS 2005), vol.2005, 2005, pp. 2911-2916.
7. J. Nakanishi, J. Morimoto, G. Endo, G. Cheng, S. Schaal, and M. Kawato, "Learning from demonstration and adaptation of biped locomotion," Robotics and Autonomous Systems, vol.47, no.2-3, pp. 79-91, 2004.
8. H. Urbanek, A. Albu-Schäffer, and P.v.d.Smagt, "Learning from demonstration repetitive movements for autonomous service robotics," in IEEE/RSL Int. Conf. on Intelligent Robots and Systems, Sendai, Japan, 2004.
9. G. Wulf, Attention and motor skill learning. Champaign, IL: Human Kinetics, 2007.
10. J. Nakanishi, J. Morimoto, G. Endo, G. Cheng, S. Schaal, and M. Kawato, "A framework for learning biped locomotion with dynamic movement primitives," in Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). Los Angeles, CA: Nov.10-12, Santa Monica, CA: IEEE, 2004.
11. R. Sutton and A. Barto, Reinforcement Learning. MIT PRESS, 1998.
12. J. Peters and S. Schaal, "Reinforcement learning for operational space," in Proceedings of the International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007.
13. R. J. Williams, "Simple statistical gradient-following algorithms for connectionist reinforcement learning," Machine Learning, vol.8, pp. 229-256, 1992.
14. C. G. Atkeson, "Using local trajectory optimizers to speed up global optimization in dynamic programming," in Advances in Neural Information Processing Systems 6, J. E. Hanson, S. J. Moody, and R. P. Lippmann, Eds. Morgan Kaufmann, 1994, pp. 503-521.
15. J. Kober and J. Peters, "Policy search for motor primitives in robotics," in Submitted to NIPS08, 2008.
16. C. Andrieu, N. de Freitas, A. Doucet, and M. I. Jordan, "An introduction to MCMC for machine learning," Machine Learning, vol.50, no.1, pp. 5-43, 2003.
17. Wikipedia, June 2008. [Online]. Available: http://en.wikipedia.org/wiki/ Ball-in-a-cup
18. J. Nakanishi, M. Mistry, J. Peters, and S. Schaal, "Experimental evaluation of task space position/orientation control towards compliant control for humanoid robots," in IEEE International Conference on Intelligent Robotics Systems (IROS 2007), 2007.