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2018

Autonomous discovery of the goal space to learn a parameterized skill

Cartoni, Emilio, Baldassarre, Gianluca

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Understand

A parameterized skill is a mapping from multiple goals/task parameters to the policy parameters to accomplish them.

Existing works in the literature show how a parameterized skill can be learned given a task space that defines all the possible achievable goals.
In this work, we focus on tasks defined in terms of final states (goals), and we face on the challenge where the agent aims to autonomously acquire a parameterized skill to manipulate an initially unknown environment.
In this case, the task space is not known a priori and the agent has to autonomously discover it.

Autonomous discovery of the goal space to learn a parameterized skill · Around

Built on

Lifelong robot learning
Thrun, S. and Mitchell, T. (1995) · 1995
Earlier work this paper cites.
Autonomous mental development by robots and animals
Original
Weng, J., McClelland, J., Pentland, A., Sporns, O., Stockman, I., Sur, M., and Thelen, E. (2001) · 2001
Earlier work this paper cites.
Intrinsically motivated learning in natural and artificial systems
Baldassarre, G. and Mirolli, M., editors (2013) · 2013
Earlier work this paper cites.
Active learning of inverse models with intrinsically motivated goal exploration in robots
Baranes, A. and Oudeyer, P. Y. (2013) · 2013
Earlier work this paper cites.

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Then

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