4 papers
Model-Based Quality-Diversity Search for Efficient Robot Learning
Leon Keller, Daniel Tanneberg, Svenja Stark +1
Despite recent progress in robot learning, it still remains a challenge to program a robot to deal with open-ended object manipulation tasks. One approach that was recently used to…
Experience Reuse with Probabilistic Movement Primitives
Svenja Stark, Jan Peters, Elmar Rueckert
Acquiring new robot motor skills is cumbersome, as learning a skill from scratch and without prior knowledge requires the exploration of a large space of motor configurations. Acco…
Local Online Motor Babbling: Learning Motor Abundance of A Musculoskeletal Robot Arm
Zinan Liu, Arne Hitzmann, Shuhei Ikemoto +3
Motor babbling and goal babbling has been used for sensorimotor learning of highly redundant systems in soft robotics. Recent works in goal babbling has demonstrated successful lea…
Learning walk and trot from the same objective using different types of exploration
Zinan Liu, Kai Ploeger, Svenja Stark +2
In quadruped gait learning, policy search methods that scale high dimensional continuous action spaces are commonly used. In most approaches, it is necessary to introduce prior kno…