Organizers: | Katja Mombaur, Gerhard Neumann, Martin Felis, Jan Peters |
Conference: | ICRA 2013 |
Location: | Karlsruhe, Germany |
Room: | Mombert |
Date and Time: | Friday, May 10, 2013, 8:30 - 18:30 |
Website: | http://www.robot-learning.de/Research/ICRA2013 |
The current challenges defined for robots require them to automatically generate and control a wide range of motions in order to be more flexible and adaptive in uncertain and changing environments. However, anthropomorphic robots with many degrees of freedom are complex dynamical systems. The generation and control of motions for such systems are very demanding tasks. Cost functions appear to be the most succinct way of describing desired behavior without over- specification and appear to underlie human movement generation in pointing/reaching movement as well as locomotion. Common cost functions in robotics include goal achievement, minimization of energy consumption, minimization of time, etc. A myriad of approaches have been suggested to obtain control policies and trajectories that are optimal with respect to such cost function. However, to date, it remains an open question what is the best algorithm for designing or learning optimal control policies and trajectories in robotics would work. The goal of this workshop is to gather researchers working in robot learning with researchers working in optimal control, in order to give an overview of the state of the art and to discuss how both fields could learn from each other and potentially join forces to work on improved motion generation and control methods for the robotics community. Some of the core topics are:
The workshop will consist of presentations, posters, and panel discussions. Topics to be addressed include, but are not limited to:
All of these questions are of crucial importance for furthering the state-of-the-art both in optimal control and in robot reinforcement learning. The goal of this workshop is to gather researchers working in robot learning with researchers working in optimal control, in order to give an overview of the state of the art and to discuss how both fields could learn from each other and potentially join forces to work on improved motion generation and control methods for the robotics community.
Pieter Abbeel, U.C.Berkeley, USA
Tim Bretl, Univ. of Illinois, USA
Abderramane Kheddar, CNRS, France and AIST, Tsukuba, Japan
Petar Kormushev, liT Genova, Italy
Richard Longman, Columbia University, New York, USA
Freek Stulp, ENSTA-ParisTech, Paris, France
Konrad Rawlik, University of Edinburgh, Scotland
Oskar von Stryk, TU Darmstadt, Germany
Time | Speaker | Talk | Affiliation |
8:30 | Gerhard Neumann, Katja Mombaur | Introduction by the organizers | |
9:00 | Pieter Abbeel | A Geometry-Based Approach for Learning from Demonstrations for Manipulation | UC Berkeley, USA |
9:30 | Oskar von Stryk | Optimal control of bio-inspired compliant robots: A trajectory optimization, control or design problem? | TU Darmstadt, Germany |
10:00 - 10:30 | Coffee Break | ||
10:30 | Abderrahmane Kheddar | Guaranteed constraint fulfillment in semi-infinite optimization planning in humanoid robots | AIST Tsukuba Japan / CNRS France |
11:00 | Petar Kormushev | Reinforcement and imitation learning of robot motor skills | IIT Italy |
11:30 | Richard Longman | Difficulties Specifying Optimization Criteria and Then Making Hardware Perform Model Based Optimized Trajectories | Columbia University, USA |
12:00 | Freek Stulp | Policy Improvement Methods: Between Black-Box Optimization and Episodic Reinforcement Learning | ENSTA-ParisTech, Paris, France |
12:30 - 14:00 | Lunch Break | ||
14:00 | Gerhard Neumann | Information-Theoretic Motor Skill Learning | TU Darmstadt |
14:30 | Martin Felis | Optimal Control: Two Applications in Robotics and Biomechanics | Univ. Heidelberg |
15:00 | Tim Bretl | When is inverse optimal control easy? | Univ. of Illinois, USA |
15:30 - 16:00 | Coffee Break | ||
16:00 | Konrad Rawlik | Probabilistic Inference and Stochastic Optimal Control | Univ. of Edinburgh, UK |
16:30 - 18:20 | Poster Teasers and Poster Session |
The following submissions have been accepted for poster presentation
March 15 - Deadline of submission for Posters
March 23th - Notification of Poster Acceptance
Extended abstracts (1 pages) will be reviewed by the program committee members on the basis of relevance, significance, and clarity. Accepted contributions will be presented as posters but particularly exciting work may be considered for talks. Submissions should be formatted according to the conference templates and submitted via email to neumann@ias.tu-darmstadt.de
Katja Mombaur , Universitaet Heidelberg
Gerhard Neumann, Technische Universitaet Darmstadt
Martin Felis, Universitaet Heidelberg
Jan Peters , Technische Universitaet Darmstadt and Max Planck Institute for Intelligent Systems
The most up-to-date information about the workshop can be found on the ICRA 2013 webpage.