Computer Science > Robotics
[Submitted on 5 Oct 2016]
Title:Towards semi-episodic learning for robot damage recovery
View PDFAbstract:The recently introduced Intelligent Trial and Error algorithm (IT\&E) enables robots to creatively adapt to damage in a matter of minutes by combining an off-line evolutionary algorithm and an on-line learning algorithm based on Bayesian Optimization. We extend the IT\&E algorithm to allow for robots to learn to compensate for damages while executing their task(s). This leads to a semi-episodic learning scheme that increases the robot's lifetime autonomy and adaptivity. Preliminary experiments on a toy simulation and a 6-legged robot locomotion task show promising results.
Submission history
From: Konstantinos Chatzilygeroudis [view email] [via CCSD proxy][v1] Wed, 5 Oct 2016 13:21:43 UTC (136 KB)
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