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Behaviour Generation in Humanoids by Learning Potential-based Policies from Constrained Motion
(Taylor and Francis, 2008-12)
Movement generation that is consistent with observed or demonstrated behaviour is an efficient way to seed movement planning in complex, high-dimensionalmovement systems like humanoid robots.We present a method for learning ...
Learning Potential-based Policies from Constrained Motion
We present a method for learning potential-based policies from constrained motion data. In contrast to previous approaches to direct policy learning, our method can combine observations from a variety of contexts where ...