Policy Learning – A Unified Perspective with Applications in Robotics [chapter]

Jan Peters, Jens Kober, Duy Nguyen-Tuong
2008 Lecture Notes in Computer Science  
Policy Learning approaches are among the best suited methods for high-dimensional, continuous control systems such as anthropomorphic robot arms and humanoid robots. In this paper, we show two contributions: firstly, we show a unified perspective which allows us to derive several policy learning algorithms from a common point of view, i.e, policy gradient algorithms, naturalgradient algorithms and EM-like policy learning. Secondly, we present several applications to both robot motor primitive
more » ... arning as well as to robot control in task space. Results both from simulation and several different real robots are shown.
doi:10.1007/978-3-540-89722-4_17 fatcat:ypyvk5detbagblvkfpclloxdia