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Real-time Learning of Resolved Velocity Control on a Mitsubishi PA-10


Conference Paper


Learning inverse kinematics has long been fascinating the robot learning community. While humans acquire this transformation to complicated tool spaces with ease, it is not a straightforward application for supervised learning algorithms due to non-convex learning problem. However, the key insight that the problem can be considered convex in small local regions allows the application of locally linear learning methods. Nevertheless, the local solution of the problem depends on the data distribution which can result into inconsistent global solutions with large model discontinuities. While this problem can be treated in various ways in offline learning, it poses a serious problem for online learning. Previous approaches to the real-time learning of inverse kinematics avoid this problem using smart data generation, such as the learner biasses its own solution. Such biassed solutions can result into premature convergence, and from the resulting solution it is often hard to understand what has been learned in tha t local region. This paper improves and solves this problem by presenting a learning algorithm which can deal with this inconsistency through re-weighting the data online. Furthermore, we show that our algorithms work not only in simulation, but we present real-time learning results on a physical Mitsubishi PA-10 robot arm.

Author(s): Peters, J. and Nguyen-Tuong, D.
Book Title: ICRA 2008
Journal: IEEE International Conference on Robotics and Automation: ICRA 2008
Pages: 2872-2877
Year: 2008
Month: May
Day: 0
Publisher: IEEE Service Center

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/ROBOT.2008.4543645
Event Name: 2008 IEEE International Conference on Robotics and Automation
Event Place: Pasadena, CA, USA

Address: Piscataway, NJ, USA
Digital: 0
Institution: Institute of Electrical and Electronics Engineers
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

Links: PDF


  title = {Real-time Learning of Resolved
  Velocity Control on a Mitsubishi PA-10},
  author = {Peters, J. and Nguyen-Tuong, D.},
  journal = {IEEE International Conference on Robotics and Automation: ICRA 2008},
  booktitle = {ICRA 2008},
  pages = {2872-2877},
  publisher = {IEEE Service Center},
  organization = {Max-Planck-Gesellschaft},
  institution = {Institute of Electrical and Electronics Engineers},
  school = {Biologische Kybernetik},
  address = {Piscataway, NJ, USA},
  month = may,
  year = {2008},
  month_numeric = {5}