Reinforcement learning of motor skills with policy gradients

  title={Reinforcement learning of motor skills with policy gradients},
  author={Jan Peters and Stefan Schaal},
  journal={Neural networks : the official journal of the International Neural Network Society},
  volume={21 4},
Autonomous learning is one of the hallmarks of human and animal behavior, and understanding the principles of learning will be crucial in order to achieve true autonomy in advanced machines like humanoid robots. In this paper, we examine learning of complex motor skills with human-like limbs. While supervised learning can offer useful tools for bootstrapping behavior, e.g., by learning from demonstration, it is only reinforcement learning that offers a general approach to the final trial-and… CONTINUE READING
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2007).Machine learning ofmotor skills for robotics

  • J. Peters
  • Ph.D. thesisUniversity of Southern California,
  • 2007
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