Intrinsically motivated hierarchical manipulation

Authors

S Hart
S Sen
R Grupen

Publication Date

2008

Journal or Book Title

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

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.

DOI

http://dx.doi.org/10.1109/ROBOT.2008.4543796

Pages

3814-3819

Book Series Title

IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION

Recommended Citation

Hart, S; Sen, S; and Grupen, R, "Intrinsically motivated hierarchical manipulation" (2008). 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9. 521.
http://dx.doi.org/10.1109/ROBOT.2008.4543796