Model-based contextual policy search for data-efficient generalization of robot skills
Abstract
In robotics, lower-level controllers are typically used to make the robot solve a specific task in a fixed context. For example, the lower-level controller can encode a hitting movement while the context defines the target coordinates to hit. However, in many learning problems the context may change between task executions. To adapt the policy to a new context, we utilize a hierarchical approach by learning an upper-level policy that generalizes...
Paper Details
Title
Model-based contextual policy search for data-efficient generalization of robot skills
Published Date
Jun 1, 2017
Journal
Volume
247
Pages
415 - 439
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