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2007
IEEE

Transfer of policies based on trajectory libraries

10 years 3 months ago
Transfer of policies based on trajectory libraries
— Libraries of trajectories are a promising way of creating policies for difficult problems. However, often it is not desirable or even possible to create a new library for every task. We present a method for transferring libraries across tasks, which allows us to build libraries by learning from demonstration on one task and apply them to similar tasks. Representing the libraries in a feature-based space is key to supporting transfer. We also search through the library to ensure a complete path to the goal is possible. Results are shown for the Little Dog task. Little Dog is a quadruped robot that has to walk across rough terrain at reasonably fast speeds.
Martin Stolle, Hanns Tappeiner, Joel E. Chestnutt,
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Martin Stolle, Hanns Tappeiner, Joel E. Chestnutt, Christopher G. Atkeson
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