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Autonomous Skills Creation and Integration in Robotics

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Riano, Lorenzo and McGinnity, TM (2012) Autonomous Skills Creation and Integration in Robotics. In: Proc. of AAAI 2012 Spring Symposium on "Designing Intelligent Robots: Reintegrating AI" 2012, Stanford. AAAI Press. 6 pp. [Conference contribution]

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Abstract

The fragmentation of research in AI and robotics has created a vast repertoire of skills a robot could be equipped with but that hardly integrate to form a complex action. We propose a novel evolutionary algorithm that aims at autonomously integrate, adapt and create new actions by re-using skills that are either externally provided or previously generated. Complex actions are created by instantiating a Finite State Automaton and new skills are created using fully recurrent neural networks.We validated our approach in two scenarios, i.e. exploration and moving to pre-grasp positions. Our experiments show that complex actions can be created by composing independently developed skills. The results have been applied and tested with a real robot in a variety of scenarios.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:20840
Deposited By:Dr Lorenzo Riano
Deposited On:10 May 2012 13:38
Last Modified:10 May 2012 13:38

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