Policy Learning of Motor Skills for Humanoid Robots

Project Information

SKILLS4ROBOTS

Grant agreement ID: 640554

DOI 10.3030/640554

Project closed

EC signature date 27 May 2015

Start date 1 July 2015

End date 30 June 2021

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 1 405 572,50

EU contribution € 1 405 572,50

Coordinated by

TECHNISCHE UNIVERSITAT DARMSTADT
Germany

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Peer reviewed articles (10)

Compatible natural gradient policy search

Author(s): Pajarinen, J., Thai, H.L., Akrour, R., Peters, J., Neumann, G.
Published in: Machine Learning, 2019, ISSN 0885-6125
Publisher: Kluwer Academic Publishers

Learning Intention Aware Online Adaptation of Movement Primitives

Author(s): Koert, D., Pajarinen, J., Schotschneider, A., Trick, S., Rothkopf, C., Peters, J.
Published in: IEEE Robotics and Automation Letters (RA-L), 2019, ISSN 2377-3766
Publisher: IEEE

Multi-Channel Interactive Reinforcement Learning for Sequential Tasks

Author(s): D. Koert, M. Kircher, V. Salikutluk, C. D'Eramo, J. Peters
Published in: Frontiers in Robotics and AI Human-Robot Interaction, 2020, ISSN 2296-9144
Publisher: Frontiers Media S.A.

Evolutionary training and abstraction yields algorithmic generalization of neural computers

Author(s): D. Tanneberg,E. Rueckert, J. Peters
Published in: Nature Machine Intelligence, 2020, ISSN 2522-5839
Publisher: Springer Nature

Intrinsic Motivation and Mental Replay enable Efficient Online Adaptation in Stochastic Recurrent Networks

Author(s): Tanneberg, D.; Peters, J.; Rueckert, E.
Published in: Neural Networks, 2019, ISSN 0893-6080
Publisher: Pergamon Press Ltd.

Entropic Regularization of Markov Decision Processes

Author(s): B. Belousov, J. Peters
Published in: Entropy, 2019, ISSN 1099-4300
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)

Learning movement primitive libraries through probabilistic segmentation

Author(s): Rudolf Lioutikov, Gerhard Neumann, Guilherme Maeda, Jan Peters
Published in: The International Journal of Robotics Research, Issue 36/8, 2017, Page(s) 879-894, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364917713116

Assisting Movement Training and Execution with Visual and Haptic Feedback

Author(s): Ewerton, M.; Rother, D.; Weimar, J.; Kollegger, G.; Wiemeyer, J.; Peters, J.; Maeda, G.
Published in: Frontiers in Neurorobotics, 2018, ISSN 1662-5218
Publisher: Frontiers Research Foundation

SKID RAW: Skill Discovery from Raw Trajectories

Author(s): Daniel Tanneberg, Kai Ploeger, Elmar Rueckert, Jan Peters
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Society

Incremental Learning of an Open-Ended Collaborative Skill Library

Author(s): D. Koert, S. Trick, M. Ewerton, M. Lutter, J. Peters
Published in: International Journal of Humanoid Robotics (IJHR), 2020, ISSN 0219-8436
Publisher: World Scientific Publishing Co

Conference proceedings (18)

Interactive Assemblies: Man-Machine Collaboration through Building Components for As-Built Digital Models

Author(s): Wibranek B., Belousov B., Sadybakasov A., Tessmann O.
Published in: Computer-Aided Architectural Design Futures (CAAD Futures), 2019
Publisher: Springer

Receding Horizon Curiosity

Author(s): Schultheis M., Belousov B., Abdulsamad H., Peters J. (2019). . Download Article BibTeX Reference
Published in: Proceedings of the 3rd Conference on Robot Learning (CoRL), 2019
Publisher: ML Research Press

Online Learning of an Open-Ended Skill Library for Collaborative Tasks

Author(s): Koert D., Trick S., Ewerton M., Lutter M., Peters J.
Published in: Proceedings of the International Conference on Humanoid Robots (HUMANOIDS), 2018
Publisher: IEEE

Projections for Approximate Policy Iteration Algorithms

Author(s): Riad Akrour, Joni Pajarinen, Jan Peters, Gerhard Neumann
Published in: Proceedings of Machine Learning Research, 2019
Publisher: MLR Press

High Acceleration Reinforcement Learning for Real-World Juggling with Binary Rewards

Author(s): Kai Ploeger, Michael Lutter, Jan Peters
Published in: Proceedings of the 4th Conference on Robot Learning (CoRL), 2021
Publisher: MLR Press

Reinforcement Learning for Sequential Assembly of SL-Blocks: Self-Interlocking Combinatorial Design Based on Machine Learning

Author(s): B. Wibranek, Y. Liu, N. Funk, B. Belousov, J. Peters, O. Tessmann
Published in: Proceedings of the 39th eCAADe Conference, 2021
Publisher: CumInCAD

Building a Library of Tactile Skills Based on FingerVision

Author(s): Belousov B., Sadybakasov A., Wibranek B., Veiga F., Tessmann O., Peters J.
Published in: Proceedings of the 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019
Publisher: IEEE

Multimodal Uncertainty Reduction for Intention Recognition in Human-Robot Interaction

Author(s): Trick S., Koert D., Peters J., Rothkopf C.
Published in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Publisher: IEEE

Deep Lagrangian Networks: Using Physics as Model Prior for Deep Learning

Author(s): Michael Lutter, Christian Ritter, Jan Peters
Published in: International Conference on Learning Representations (ICLR), Issue 2019, 2019
Publisher: ICLR

Underactuated Waypoint Trajectory Optimization for Light Painting Photography

Author(s): Eilers, C., Eschmann, J., Menzenbach, R., Belousov, B., Muratore, F., Peters, J.
Published in: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020
Publisher: IEEE

Demonstration based trajectory optimization for generalizable robot motions

Author(s): Dorothea Koert, Guilherme Maeda, Rudolf Lioutikov, Gerhard Neumann, Jan Peters
Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016, Page(s) 515-522, ISBN 978-1-5090-4718-5
Publisher: IEEE
DOI: 10.1109/humanoids.2016.7803324

Catching heuristics are optimal control policies

Author(s): Belousov, B.; Neumann, G.; Rothkopf, C.A.; Peters, J.
Published in: Proceedings of the Karniel Thirteenth Computational Motor Control Workshop, 2017, Page(s) 1-15
Publisher: Ben-Gurion University

Catching heuristics are optimal control policies

Author(s): Belousov, B.; Neumann, G.; Rothkopf, C.; Peters, J.
Published in: Advances in Neural Information Processing Systems, Issue yearly, 2016
Publisher: NIPS Foundation

State-Regularized Policy Search for Linearized Dynamical Systems

Author(s): Abdulsamad, H.; Arenz, O.; Peters, J.; Neumann, G.
Published in: Proceedings of the International Conference on Automated Planning and Scheduling, 2017
Publisher: ICAPS Foundation

Learning Coupled Forward-Inverse Models with Combined Prediction Errors

Author(s): Koert D., Maeda G., Neumann G., Peters J.
Published in: Proceedings of the International Conference on Robotics and Automation (ICRA), 2018
Publisher: IEEE

Entropic Risk Measure in Policy Search

Author(s): Nass D., Belousov B., Peters J.
Published in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Publisher: IEEE

Information gathering in decentralized POMDPs by policy graph improvement

Author(s): M. Lauri, J. Pajarinen, J. Peters
Published in: Proceedings of the International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2020
Publisher: Springer Nature

Online Learning with Stochastic Recurrent Neural Networks using Intrinsic Motivation Signals

Author(s): D. Tanneberg, J. Peters, E. Rueckert
Published in: Proceedings of the Conference on Robot Learning (CoRL), 2017
Publisher: MLResearchPress

Thesis and dissertations (8)

Inductive Biases for Machine Learning in Robotics and Control

Author(s): M. Lutter
Published in: Ph.D. Thesis, TU Darmstadt, 2021
Publisher: ULB

Understand-Compute-Adapt: Neural Networks for Intelligent Agents,

Author(s): Tanneberg D.
Published in: Ph.D. Thesis, TU Darmstadt, 2020
Publisher: ULB

Minimax and entropic proximal policy optimization

Author(s): Y. Song
Published in: Master Thesis, TU Darmstadt, 2018
Publisher: ULB

Parsing Motion and Composing Behavior for Semi-Autonomous Manipulation

Author(s): R. Lioutikov
Published in: PhD Thesis, TU Darmstadt, 2018
Publisher: ULB

Bidirectional Human-Robot Learning: Imitation and Skill Improvement

Author(s): M. Ewerton
Published in: PhD Thesis, TU Darmstadt, 2019
Publisher: ULB

Statistical Machine Learning for Stochastic Structured Systems

Author(s): H. Abdulsamad
Published in: Ph.D. Thesis, TU Darmstadt, 2021
Publisher: ULB

Generalization and Transferability in Reinforcement Learning

Author(s): P. Klink
Published in: Master Thesis, TU Darmstadt, 2019
Publisher: ULB

Reinforcement Learning with Sparse and Multiple Rewards

Author(s): S. Parisi
Published in: PhD Thesis. TU Darmstadt, 2019
Publisher: ULB

Other (1)

f-Divergence constrained policy improvement

Author(s): Belousov, Boris; Peters, Jan
Published in: Issue 2, 2018
Publisher: ArXiV