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cs.RO2026
Deliberate Practice: Learning Robot Skills under a Budget
Shivam Vats, Sudarshan Harithas, Mete Tuluhan Akbulut +2
We consider the problem of autonomously learning robot skills under a limited practice budget for sequential tasks. We propose an active skill learning algorithm, \emph{Deliberate…
cs.RO2020
Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization
M. Tuluhan Akbulut, Utku Bozdogan, Ahmet Tekden +1
The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challengi…
cs.RO2020
ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharing
M. Tuluhan Akbulut, Erhan Oztop, M. Yunus Seker +3
To equip robots with dexterous skills, an effective approach is to first transfer the desired skill via Learning from Demonstration (LfD), then let the robot improve it by self-exp…