Speaker(s) : Jochen Steil
Event : Invited seminar
Place : Frankfurt Institute of Advanced Studies
Date and Time : 01/14/2014, 1:00 pm
Abstract : How to represent movement skills in complex behavioral
This is a persistant research question in cognitive robotics which we tackle
through a neuro-robotics approach based on the principle of continous neural
association. The latter is an original approach to combine ideas from
reservoir computing, dynamical systems and classical associative memories in
a coherent framework.
The goal is to learn to bind together sensori-motor data, parametric
representations like dynamic movement primitives and low-dimensional
embeddings of task-specifying parameters
like e.g. via points in a multi-level and multi-scale skill memory.
It is further shown that this paramteric skill memory is
highly beneficial for application of modern trajectory based learning
based on roll-outs and reward-weighted averaging, which we demonstrate in
applications to velocity field learning, inverse kinematics control, and
skill optimization for humanoid robots like the iCub.
Partners : Bielefeld University - CoR-Lab