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A Novel Method for Learning Policies from Variable Constraint Data.pdf1.19 MBAdobe PDFView/Open
Title: A Novel Method for Learning Policies from Variable Constraint Data
Authors: Howard, Matthew
Klanke, Stefan
Gienger, Michael
Goerick, Christian
Vijayakumar, Sethu
Issue Date: 2009
Journal Title: Autonomous Robots
Volume: 27
Issue: 2
Page Numbers: 105-121
Publisher: Springer
Abstract: Many everyday human skills can be framed in terms of performing some task subject to constraints imposed by the environment. Constraints are usually unobservable and frequently change between contexts. In this paper, we present a novel approach for learning (unconstrained) control policies from movement data, where observations come from movements under different constraints. As a key ingredient, we introduce a small but highly effective modification to the standard risk functional, allowing us to make a meaningful comparison between the estimated policy and constrained observations. We demonstrate our approach on systems of varying complexity, including kinematic data from the ASIMO humanoid robot with 27 degrees of freedom, and present results for learning from human demonstration.
Keywords: Informatics
Computer Science
Appears in Collections:Informatics Publications

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