English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/127300
logo share SHARE logo core CORE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:

Active learning of manipulation sequences

AutorMartínez, David ; Alenyà, Guillem ; Jiménez Schlegl, Pablo; Torras, Carme ; Rossmann, Jürgen; Wantia, Nils; Aksoy, Eren Erdal; Haller, Simon; Piater, Justus
Fecha de publicación2014
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE International Conference on Robotics and Automation: 5671-5678 (2014)
ResumenWe describe a system allowing a robot to learn goal-directed manipulation sequences such as steps of an assembly task. Learning is based on a free mix of exploration and instruction by an external teacher, and may be active in the sense that the system tests actions to maximize learning progress and asks the teacher if needed. The main component is a symbolic planning engine that operates on learned rules, defined by actions and their pre- and postconditions. Learned by model-based reinforcement learning, rules are immediately available for planning. Thus, there are no distinct learning and application phases. We show how dynamic plans, replanned after every action if necessary, can be used for automatic execution of manipulation sequences, for monitoring of observed manipulation sequences, or a mix of the two, all while extending and refining the rule base on the fly. Quantitative results indicate fast convergence using few training examples, and highly effective teacher intervention at early stages of learning.
DescripciónTrabajo presentado al ICRA 2014 celebrado en Hong Kong del 31 de mayo al 7 de junio.
Versión del editorhttp://dx.doi.org/10.1109/ICRA.2014.6907693
Identificadoresissn: 1050-4729
Aparece en las colecciones: (IRII) Artículos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
manipulation-sequences.pdf1,79 MBAdobe PDFVista previa
Mostrar el registro completo

NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.