Copyright © 1991 Published by Elsevier Science B.V.
Learning reliable manipulation strategies without initial physical models
Available online 21 February 2003.
Abstract
Christiansen, A.D., Mason, M.T. and Mitchell, T.M., Learning reliable manipulation strategies without initial physical models, Robitics and Autonomous Systems, 8 (1991) 7–18.
We describe a robot, possessing limited sensory and effectory capabilties but no initial model of the effects of its actions on the world, that acquires such a model through exploration, practice, and observation. By acquiring an increasingly correct model of its actions, it generates increasingly successful plans to achieve its goals. In an apparently non-deterministic world, achieving reliability requires the identification of reliable actions and a preference for using such actions. Furthermore, by selecting its training carefully, the robot can significantly improve its learning rate.
Author Keywords: Stochastic models: Empirical learning; Experimentation; Planning; Manipulation






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