Environment-adaptive interaction primitives through visual context for human–robot motor skill learning
نویسندگان
چکیده
منابع مشابه
Motor learning through the combination of primitives.
In this paper we discuss a new perspective on how the central nervous system (CNS) represents and solves some of the most fundamental computational problems of motor control. In particular, we consider the task of transforming a planned limb movement into an adequate set of motor commands. To carry out this task the CNS must solve a complex inverse dynamic problem. This problem involves the tra...
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Humans demonstrate a large variety of very complicated motor skills in their day-to-day life. Their agility and adaptability to new control task remains unmatched by the millions of robots laboring on factory floors and roaming research labs. Achieving the abilities of learning and improving new motor skills has become an essential component in order to get a step closer to human-like motor ski...
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Many control problems take place in continuous state-action spaces, e.g., as in manipulator robotics, where the control objective is often defined as finding a desired trajectory that reaches a particular goal state. While reinforcement learning offers a theoretical framework to learn such control policies from scratch, its applicability to higher dimensional continuous state-action spaces rema...
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We present a new method for representing human movement compactly to help in imitation learning. This paper describes a method to represent movement in terms of a linear superimposition of simpler movements termed primitives. If control strategies can be developed that can be easily transformed based on the variation of the contributions of these primitives to the movement, learning can be perf...
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Recently there has been a growing interest in modeling motor control systems with modular structures. Such control structures have many interesting properties, which have been described in recent studies. We here focus on some properties which are related to the fact that specific set of contexts can themselves be modeled modularly.
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ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2018
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-018-9798-2