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Reference TypeConference Proceedings
Author(s)Ijspeert, J. A.;Nakanishi, J.;Schaal, S.
Year2002
TitleLearning rhythmic movements by demonstration using nonlinear oscillators
Journal/Conference/Book TitleIEEE International Conference on Intelligent Robots and Systems (IROS 2002)
Keywordsmovement primitives, behaviors, dynamic systems, computational motor control, attractor landscapes, discrete, rhythmic
AbstractLocally weighted learning (LWL) is a class of statistical learning techniques that provides useful representations and training algorithms for learning about complex phenomena during autonomous adaptive control of robotic systems. This paper introduces several LWL algorithms that have been tested successfully in real-time learning of complex robot tasks. We discuss two major classes of LWL, memory-based LWL and purely incremental LWL that does not need to remember any data explicitly. In contrast to the traditional beliefs that LWL methods cannot work well in high-dimensional spaces, we provide new algorithms that have been tested in up to 50 dimensional learning problems. The applicability of our LWL algorithms is demonstrated in various robot learning examples, including the learning of devil-sticking, pole-balancing of a humanoid robot arm, and inverse-dynamics learning for a seven degree-of-freedom robot.
Place PublishedLausanne, Sept.30-Oct.4 2002
PublisherPiscataway, NJ: IEEE
Pages958-963
Short TitleLearning rhythmic movements by demonstration using nonlinear oscillators
URL(s) http://www-clmc.usc.edu/publications/I/ijspeert-IROS2002.pdf

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