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arXiv · 1610.01407

Towards semi-episodic learning for robot damage recovery

Konstantinos Chatzilygeroudis·Antoine Cully·Jean-Baptiste Mouret
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Abstract

The recently introduced Intelligent Trial and Error algorithm (IT\&E) enables robots to creatively adapt to damage in a matter of minutes by combining an off-line evolutionary algorithm and an on-line learning algorithm based on Bayesian Optimization. We extend the IT\&E algorithm to allow for robots to learn to compensate for damages while executing their task(s). This leads to a semi-episodic learning scheme that increases the robot's lifetime autonomy and adaptivity. Preliminary experiments on a toy simulation and a 6-legged robot locomotion task show promising results.

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Konstantinos Chatzilygeroudis, Antoine Cully, Jean-Baptiste Mouret. 2016-10-05. Towards semi-episodic learning for robot damage recovery. https://arxiv.org/abs/1610.01407

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