TY - GEN
T1 - An iterative algorithm for forward-parameterized skill discovery
AU - Matricon, Adrien
AU - Filliat, David
AU - Oudeyer, Pierre Yves
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/2/7
Y1 - 2017/2/7
N2 - We introduce COCOTTE (COnstrained Complexity Optimization Through iTerative merging of Experts), an iterative algorithm for discovering discrete, meaningful parameterized skills and learning explicit models of them from a set of behaviour examples. We show that forward-parameterized skills can be seen as smooth components of a locally smooth function and, framing the problem as the constrained minimization of a complexity measure, we propose an iterative algorithm to discover them. This algorithm fits well in the developmental robotics framework, as it does not require any external definition of a parameterized task, but discovers skills parameterized by the action from data. An application of our method to a simulated setup featuring a robotic arm interacting with an object is shown.
AB - We introduce COCOTTE (COnstrained Complexity Optimization Through iTerative merging of Experts), an iterative algorithm for discovering discrete, meaningful parameterized skills and learning explicit models of them from a set of behaviour examples. We show that forward-parameterized skills can be seen as smooth components of a locally smooth function and, framing the problem as the constrained minimization of a complexity measure, we propose an iterative algorithm to discover them. This algorithm fits well in the developmental robotics framework, as it does not require any external definition of a parameterized task, but discovers skills parameterized by the action from data. An application of our method to a simulated setup featuring a robotic arm interacting with an object is shown.
U2 - 10.1109/DEVLRN.2016.7846816
DO - 10.1109/DEVLRN.2016.7846816
M3 - Conference contribution
AN - SCOPUS:85015346438
T3 - 2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016
SP - 186
EP - 192
BT - 2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016
Y2 - 19 September 2016 through 22 September 2016
ER -