{"type":"ScholarlyArticle","title":"Reinforcement Learning to Adjust Robot Movements to New Situations","authors":[{"name":"Jens Kober","slug":"jens-kober","given":"Jens","family":"Kober","affiliation":""},{"name":"Erhan Öztop","slug":"erhan-oztop","given":"Erhan","family":"Öztop","affiliation":""},{"name":"Jan Peters","slug":"jan-peters","given":"Jan","family":"Peters","affiliation":""}],"abstract":"Many complex robot motor skills can be represented using elementary movements, and there exist efficient techniques for learning parametrized motor plans using demonstrations and self-improvement. However with current techniques, in many cases, the robot currently needs to learn a new elementary movement even if a parametrized motor plan exists that covers a related situation. A method is needed that modulates the elementary movement through the meta-parameters of its representation. In this paper, we describe how to learn such mappings from circumstances to meta-parameters using reinforcement learning. In particular we use a kernelized version of the reward-weighted regression. We show two robot applications of the presented setup in robotic domains; the generalization of throwing movements in darts, and of hitting movements in table tennis. We demonstrate that both tasks can be learned successfully using simulated and real robots.","doi":"10.5591/978-1-57735-516-8/IJCAI11-441","url":"https://ijcai.org/proceedings/2011/441","pdf":"https://ijcai.org/proceedings/2011/0441.pdf","markdown":"https://ijcai.org/proceedings/2011/441.md","bibtex":"https://ijcai.org/proceedings/2011/bibtex/441","volume":{"slug":"2011","title":"Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2011","url":"https://ijcai.org/proceedings/2011/","year":2011,"location":"Barcelona, Catalonia, Spain","dates":"16–22 July 2011","editors":"Toby Walsh","isbn":"978-1-57735-512-0; 978-1-57735-513-7; 978-1-57735-514-4; 978-1-57735-515-1; 978-1-57735-516-8","publisher":"AAAI Press/International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":null,"track":"","number":441,"pages":{"first":2650,"last":2654},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}