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Peggy Fidelman and Peter Stone.
Learning Ball Acquisition on a Physical Robot. In 2004 International Symposium on Robotics and Automation (ISRA),
August 2004.
ISRA 2004
Some videos
of the robot referenced in the paper.
[PDF]103.6kB [postscript]1.4MB
For a robot to learn to improve its performance based entirely on real-world environmental feedback, the robot's behavior specification and learning algorithm must be constructed so as to enable data-efficient learning. Building upon previous work enabling a quadrupedal robot to learn a fast walk with all of the training done on the physical robot and with no human intervention \citeAAAI04, we demonstrate the ability of the same robot to learn a more high-level, goal-oriented task using the same methodology. In particular, we enable the robot to learn to capture (or ``grasp'') a ball. The learning occurs over about three hours of robot run time and generates a behavior that is significantly better than a baseline hand-coded behavior. Our method is fully implemented and tested on a Sony Aibo ERS-7 robot.
@InProceedings(ISRA2004-chinpinch,
author="Peggy Fidelman and Peter Stone",
title="Learning Ball Acquisition on a Physical Robot",
booktitle="2004 International Symposium on Robotics and Automation (ISRA)",
month="August",year="2004",
abstract={
For a robot to learn to improve its performance
based entirely on real-world environmental feedback,
the robot's behavior specification and learning
algorithm must be constructed so as to enable
data-efficient learning. Building upon previous
work enabling a quadrupedal robot to learn a fast
walk with all of the training done on the physical
robot and with no human intervention~\cite{AAAI04},
we demonstrate the ability of the same robot to
learn a more high-level, goal-oriented task using
the same methodology. In particular, we enable the
robot to learn to \emph{capture} (or ``grasp'') a
ball. The learning occurs over about three hours of
robot run time and generates a behavior that is
significantly better than a baseline hand-coded
behavior. Our method is fully implemented and
tested on a Sony Aibo ERS-7 robot.
},
wwwnote={<a href="http://www.mecamex.net/isra/">ISRA 2004</a><br>Some <a href="http://www.cs.utexas.edu/users/AustinVilla/legged/learned-acquisition/">videos of the robot</a> referenced in the paper.},
bit2html_ignore=1
)
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