This page includes drafts for the chapters of my Ph.D. thesis titled Machine Learning for Motor Skills in Robotics. It includes contributions to machine learning (particularly reinforcement learning), control and robotics.

ChapterTitlePDF File
0Preface[pdf] Δ
1Introduction[pdf] Δ
2A Unifying Framework for Robot Control with Redundant Degrees of Freedom[pdf] Δ
3Learning Tracking Control in Operational Space[pdf] Δ
4Policy Gradient Methods for Motor Primitives and Robotics[pdf] Δ
5Conclusion[pdf] Δ
A+Appendices & References[pdf] Δ

Another version of the thesis with PDF's more suitable for Linux viewers can be found here as PDF and here as zipped postscript Δ.


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