Loading...
Please wait, while we are loading the content...
Similar Documents
PALADYN Journal of Behavioral Robotics 0 Adaptive Exploration through Covariance Matrix Adaptation Enables Developmental Motor Learning
| Content Provider | CiteSeerX |
|---|---|
| Author | Stulp, Freek Team, Flowers Oudeyer, Pierre-Yves |
| Abstract | The “Policy Improvement with Path Integrals ” (PI2)[25] and “Covariance Matrix Adaptation- Evolutionary Strategy ” [8] are considered to be state-of-the-art in direct reinforcement learning and stochastic optimization respectively. We have recently shown that incorporating covariance matrix adaptation into PI2 – which yields the PI2 CMA algorithm – enables adaptive exploration by continually and autonomously reconsidering the exploration/exploitation trade-off. In this article, we provide an overview of our recent work on covariance matrix adaptation for direct reinforcement learning [22–24], highlight its relevance to developmental robotics, and conduct further experiments to analyze the results. We investigate two complementary phenomena from developmental robotics. First, we demonstrate PI2 CMA ’s ability to adapt to slowly or abruptly changing tasks due to its continual and adaptive exploration. This is an important component of life-long skill learning in dynamic environments. Second, we show on a reaching task how PI2 CMA subsequently releases degrees of freedom from proximal to more distal limbs as learning progresses. A similar effect is observed in human development, where it is known as ‘proximodistal maturation’. Keywords reinforcement learning · covariance matrix adaptation · developmental robotics · adaptive exploration · proximodistal maturation 1. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Direct Reinforcement Learning Recent Work Human Development Adaptive Exploration Stochastic Optimization Complementary Phenomenon Covariance Matrix Adaptation Evolutionary Strategy Behavioral Robotics Direct Reinforcement Paladyn Journal Covariance Matrix Adaptation Exploration Exploitation Trade-off Distal Limb Dynamic Environment Learning Progress Developmental Robotics Keywords Reinforcement Policy Improvement Important Component Path Integral Life-long Skill Pi2 Cma Similar Effect Proximodistal Maturation |
| Content Type | Text |
