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通过简单的运动模板学习复杂的运动Learning Complex Motions by Sequencing Simpler Motion Templates |
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| 课程网址: | http://videolectures.net/icml09_neumann_lcm/ |
| 主讲教师: | Gerhard Neumann |
| 开课单位: | 达姆施塔特理工大学 |
| 开课时间: | 2009-08-26 |
| 课程语种: | 英语 |
| 中文简介: |  |
| 课程简介: | Abstraction of complex, longer motor tasks into simpler elemental movements enables humans and animals to exhibit motor skills which have not yet been matched by robots. Humans intuitively decompose complex motions into smaller, simpler segments. For example when describing simple movements like drawing a triangle with a pen, we can easily name the basic steps of this movement. Surprisingly, such abstractions have rarely been used in artificial motor skill learning algorithms. These algorithms typically choose a new action (such as a torque or a force) at a very fast time-scale. As a result, both policy and temporal credit assignment problem become unnecessarily complex - often beyond the reach of current machine learning methods. We introduce a new framework for temporal abstractions in reinforcement learning (RL), i.e. RL with motion templates. We present a new algorithm for this framework which can learn high-quality policies by making only few abstract decisions. |
| 关 键 词: | 运动技能; 时间尺度; 信贷分配问题; 抽象框架 |
| 课程来源: | 视频讲座网 |
| 最后编审: | 2019-12-08：lxf |
| 阅读次数: | 46 |