Intrinsically motivated hierarchical manipulation

被引：6

作者：

Hart, Stephen ^{[1
]}

Sen, Shiraj ^{[1
]}

Grupen, Rod ^{[1
]}

机构：

[1] Univ Massachusetts, Dept Comp Sci, Lab Perceptual Robot, Amherst, MA 01003 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年

关键词：

D O I：

10.1109/ROBOT.2008.4543796

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a framework for the programming of manipulation behavior by means of an intrinsic reward function that encourages the building of deep control knowledge. We show how this framework can be used to teach new manipulation skills in a hierarchical and incremental fashion. We demonstrate the contributions of this paper on a humanoid robot through three incremental learning stages.

引用

页码：3814 / 3819

页数：6

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