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- We want robots that are compliant and that we are capable of interacting with.
- We need to develop efficient learning methods
- How can androids learn basic human tasks
- Put internal and external sensory information into "state" and forces into "control"
- Stochastic policy to remove dimensionality problem and allow for exploration
- Need two types of learning
- Learn from teacher
- Try and minimize distance of self action distribution to observed distribution
- Learn from rewards
- Reinforcement earning by reward weighted by previous actions (Peters & Schaal 2007)
- Learn from teacher
- To help with the learning they do the following:
- Utilized motor primitives
- Utilize context
- Learn tasks in operation space
- Motor primitives are defined in the dynamical systems representation, these are made up of discrete movements and rhythmic movements.
- The task hyper-parameters are in theory those that are task invariant.
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