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Conference papers

Autonomous Reuse of Motor Exploration Trajectories

Fabien Benureau 1, * Pierre-Yves Oudeyer 1
* Corresponding author
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
Abstract : We present an algorithm for transferring exploration strategies between tasks that share a common motor space in the context of lifelong autonomous learning in robotics. The algorithm does not transfer observations, or make assumptions about how the learning is conducted. Instead, only selected motor commands are transferred between tasks, chosen autonomously according to an empirical measure of learning progress. We show that on a wide variety of variations from a source task, such as changing the object the robot is interacting with or altering the morphology of the robot, this simple and flexible transfer method increases early performance significantly in the new task. We also provide examples of situations where the transfer is not helpful.
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Submitted on : Thursday, August 8, 2013 - 12:40:26 PM
Last modification on : Friday, December 3, 2021 - 11:34:06 AM
Long-term archiving on: : Wednesday, April 5, 2017 - 8:04:18 PM


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  • HAL Id : hal-00850759, version 1



Fabien Benureau, Pierre-Yves Oudeyer. Autonomous Reuse of Motor Exploration Trajectories. International Conference on Development and Learning and on Epigenetic Robotics, Aug 2013, Osaka, Japan. ⟨hal-00850759⟩



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