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We enable a robot to rapidly and autonomously specialize parameterized skills by planning to practice them. The robot decides what skills to practice and how to practice them. The robot is left alone for hours, repeatedly practicing and improving.
One promising approach towards effective robot decision making in complex, long-horizon tasks is to sequence together parameterized skills . We consider a setting where a robot is initially equipped with (1) a library of parameterized skills, (2) an AI planner for sequencing together the skills given a goal, and (3) a very general prior distribution for selecting skill parameters. Once deployed, the robot should rapidly and autonomously learn to improve its performance by specializing its skill parameter se
Home | Nishanth J. Kumar