[Colloquium] 8/27 TTIC Colloquium: Peter Stone, UT Austin

[Mary Marre via Colloquium]

*When:    *  Monday, August 27th at 11:00 am



*Where:     *TTIC, 6045 S. Kenwood Avenue, 5th Floor, Room 526



*Who:        *Peter Stone, UT Austin


*Title:*         Robot Skill Learning: From the Real World to Simulation
and Back

*Abstract:*

For autonomous robots to operate in the open, dynamically changing world,
they will need to be able to learn a robust set of interacting skills. This
talk begins by introducing "Overlapping Layered Learning" as a novel
hierarchical machine learning paradigm for learning such interacting skills
in simulation. While learning in simulation is appealing because it avoids
the prohibitive sample cost of learning in the real world, unfortunately
policies learned in simulation often fail when applied on physical robots.
This talk then introduces "Grounded Simulation Learning" to address this
problem by algorithmically altering the simulator to better match the real
world, and connects this new algorithm to a theoretical analysis
of off-policy evaluation in reinforcement learning. Overlapping
Layered Learning was the key deciding factor in UT Austin Villa's RoboCup
robot soccer 3D simulation league championship, and Grounded Simulation
Learning has led to the fastest known stable walk on a widely used humanoid
robot.

Host:  Matthew Walter <mwalter at ttic.edu>



For more information on the colloquium series or to subscribe to the
mailing list,please see http://www.ttic.edu/colloquium.php



Mary C. Marre
Administrative Assistant
*Toyota Technological Institute*
*6045 S. Kenwood Avenue*
*Room 523*
*Chicago, IL  60637*
*p:(773) 834-1757*
*f: (773) 357-6970*
*mmarre at ttic.edu <mmarre at ttic.edu>*
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