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RI | Publications | Transfer of policies based on trajectory libraries
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Transfer of policies based on trajectory libraries
M. Stolle, H. Tappeiner, J. Chestnutt, and C. Atkeson
Proceedings of the International Conference on Intelligent Robots and Systems, 2007.
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| Abstract |
Recently, libraries of trajectory plans have been shown to be a promising way of creating policies for difficult problems. However, often it is not desirable or even possible to create a new library for every task. We present a method for transferring libraries across tasks, which allows us to build libraries by learning from demonstration on one task and apply them to similar tasks. Representing the libraries in a feature-based space is key to supporting transfer. We also search through the library to ensure a complete path to the goal is possible. Results are shown for the Little Dog task. Little Dog is a quadruped robot that has to walk across rough terrain at reasonably fast speeds.
| Notes |
Associated center: CFR
Associated lab/group: Planning and Autonomy Lab
Associated project: Learning Locomotion
| Text Reference |
M. Stolle, H. Tappeiner, J. Chestnutt, and C. Atkeson, "Transfer of policies based on trajectory libraries," Proceedings of the International Conference on Intelligent Robots and Systems, 2007.
| BibTeX Reference |
@inproceedings{Stolle_2007_6097,
author = "Martin Stolle and Hanns Tappeiner and Joel Chestnutt and Chris Atkeson",
title = "Transfer of policies based on trajectory libraries",
booktitle = "Proceedings of the International Conference on Intelligent Robots and Systems",
year = "2007"
}