Title :
Intrinsically motivated hierarchical manipulation
Author :
Hart, Stephen ; Sen, Shiraj ; Grupen, Rod
Author_Institution :
Comput. Sci. Dept., Univ. of Massachusetts, Amherst, MA
Abstract :
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.
Keywords :
humanoid robots; learning (artificial intelligence); manipulators; hierarchical manipulation behavior; humanoid robot; incremental learning; intrinsic reward function; Computer science; Feedback; Force control; Laboratories; Learning; Optimal control; Robot programming; Robot sensing systems; Robotics and automation; USA Councils;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543796
