Reinforcement Learning Based Manipulation Skill Transferring for Robot-assisted Minimally Invasive Surgery.
Hang SuYingbai HuZhijun LiAlois C. KnollGiancarlo FerrignoElena De MomiPublished in: ICRA (2020)
Keyphrases
- reinforcement learning
- manipulation tasks
- real robot
- transfer learning
- mobile robot
- robot control
- perceptual aliasing
- human robot interaction
- autonomous learning
- robot navigation
- autonomous robots
- path planning
- function approximation
- human robot
- robot behavior
- humanoid robot
- optimal policy
- real time
- position and orientation
- inverse kinematics
- robot manipulators
- behavioural cloning
- robot arm
- robot soccer
- multi robot
- robotic systems
- vision system
- reinforcement learning algorithms
- robotic control
- mobile robotics
- end effector
- formation control
- simulated robot
- previously learned
- state space
- motor skills
- machine learning
- temporal difference
- learning algorithm
- multi agent
- active learning
- unknown environments
- supervised learning
- service robots
- markov decision processes
- goal directed
- model free