Intrinsically motivated hierarchical manipulation
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