Robohub.org
 

Peter Stone: Robot Skill Learning: From the Real World to Simulation and Back | CMU RI Seminar


by
02 April 2017



share this:

Link to video on YouTube

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.”




John Payne





Related posts :



Robot Talk Episode 126 – Why are we building humanoid robots?

  20 Jun 2025
In this special live recording at Imperial College London, Claire chatted to Ben Russell, Maryam Banitalebi Dehkordi, and Petar Kormushev about humanoid robotics.

Gearing up for RoboCupJunior: Interview with Ana Patrícia Magalhães

and   18 Jun 2025
We hear from the organiser of RoboCupJunior 2025 and find out how the preparations are going for the event.

Robot Talk Episode 125 – Chatting with robots, with Gabriel Skantze

  13 Jun 2025
In the latest episode of the Robot Talk podcast, Claire chatted to Gabriel Skantze from KTH Royal Institute of Technology about having natural face-to-face conversations with robots.

Preparing for kick-off at RoboCup2025: an interview with General Chair Marco Simões

and   12 Jun 2025
We caught up with Marco to find out what exciting events are in store at this year's RoboCup.

Interview with Amar Halilovic: Explainable AI for robotics

  10 Jun 2025
Find out about Amar's research investigating the generation of explanations for robot actions.

Robot Talk Episode 124 – Robots in the performing arts, with Amy LaViers

  06 Jun 2025
In the latest episode of the Robot Talk podcast, Claire chatted to Amy LaViers from the Robotics, Automation, and Dance Lab about the creative relationship between humans and machines.

Robot Talk Episode 123 – Standardising robot programming, with Nick Thompson

  30 May 2025
In the latest episode of the Robot Talk podcast, Claire chatted to Nick Thompson from BOW about software that makes robots easier to program.

Congratulations to the #AAMAS2025 best paper, best demo, and distinguished dissertation award winners

  29 May 2025
Find out who won the awards presented at the International Conference on Autonomous Agents and Multiagent Systems last week.



 

Robohub is supported by:




Would you like to learn how to tell impactful stories about your robot or AI system?


scicomm
training the next generation of science communicators in robotics & AI


©2025.05 - Association for the Understanding of Artificial Intelligence


 












©2025.05 - Association for the Understanding of Artificial Intelligence