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Mathematics, Physics & Machine Learning Seminar   RSS

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Jan Peters 23/04/2021, 14:00 — 15:00 Europe/Lisbon — Instituto Superior Técnicohttp://tecnico.ulisboa.pt
, Technische Universitaet Darmstadt

Robot Learning - Quo Vadis?

Autonomous robots that can assist humans in situations of daily life have been a long standing vision of robotics, artificial intelligence, and cognitive sciences. A first step towards this goal is to create robots that can learn tasks triggered by environmental context or higher level instruction. However, learning techniques have yet to live up to this promise as only few methods manage to scale to high-dimensional manipulator or humanoid robots. In this talk, we investigate a general framework suitable for learning motor skills in robotics which is based on the principles behind many analytical robotics approaches. It involves generating a representation of motor skills by parameterized motor primitive policies acting as building blocks of movement generation, and a learned task module that transforms these movements into motor commands. We discuss learning on three different levels of abstraction, i.e., learning for accurate control is needed to execute, learning of motor primitives is needed to acquire simple movements, and learning of the task-dependent „hyperparameters“ of these motor primitives allows learning complex tasks. We discuss task-appropriate learning approaches for imitation learning, model learning and reinforcement learning for robots with many degrees of freedom. Empirical evaluations on a several robot systems illustrate the effectiveness and applicability to learning control on an anthropomorphic robot arm. These robot motor skills range from toy examples (e.g., paddling a ball, ball-in-a-cup, juggling) to playing robot table tennis against a human being and manipulation of various objects.

The IST seminar series Mathematics, Physics & Machine Learning aims at bringing together mathematicians and physicists interested in machine learning (ML) with  ML and AI experts interested in mathematics and physics, with the goals of introducing innovative mathematics and physics-inspired techniques in ML and, reciprocally, applying ML to problems in mathematics and physics.


Organizers: Cláudia Nunes (DM and CEMAT), Cláudia Soares (DEEC and ISR), Francisco Melo (DEI and INESC-ID), João Seixas (DF and CEFEMA), João Xavier (DEEC and ISR), José Mourão (DM and CAMGSD), Mário Figueiredo (DEEC and IT), Pedro Alexandre Santos (DM and INESC-ID)  and Yasser Omar (DM and IT).
Zoom password: distributed with email announcements or send an email to the organizers asking for it.

CAMGSD CEFEMA INESC-ID ISR Lisboa IT