Roderic A. Grupen

Learn More
We describe CST, an online algorithm for constructing skill trees from demonstration trajectories. CST segments a demonstration trajectory into a chain of component skills, where each skill has a goal and is assigned a suitable abstraction from an abstraction library. These properties permit skills to be improved efficiently using a policy learning(More)
In this paper we present a framework for guiding autonomous learning in robot systems. The paradigm we introduce allows a robot to acquire new skills according to an intrinsic motivation function that finds behavioral affordances. Affordances—in the sense of Gibson [6]—describe the latent possibilities for action in the environment and provide a direct(More)
The UMASS uBot-4 is a two wheeled, dynamically stable, bimanual mobile manipulator. It is a compact, safe, and cost effective platform with many features such as whole body postural control, force sensing actuators, two 4-DOF arms, and a small footprint. It is the latest in a series of small mobile robots that originated with the uBot-0.5 (ca. 1997). This(More)
Properties of the human embodiment – sensorimotor apparatus and neurological structure – participate directly in the growth and development of cognitive processes. It is our position that relationships between morphology and perception over time lead to increasingly comprehensive models couched in the dynamics of interactions with the world. We are studying(More)