Learning Motor Skills: From Algorithms to Robot Experiments by Jens KoberLearning Motor Skills: From Algorithms to Robot Experiments by Jens Kober

Learning Motor Skills: From Algorithms to Robot Experiments

byJens Kober, Jan Peters

Hardcover | December 9, 2013

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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.

Title:Learning Motor Skills: From Algorithms to Robot ExperimentsFormat:HardcoverDimensions:191 pages, 23.5 × 15.5 × 0.03 inPublished:December 9, 2013Publisher:Springer-Verlag/Sci-Tech/TradeLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:3319031937

ISBN - 13:9783319031934


Table of 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.