Invited Talk at University Lübeck
Title: Neural models for robot motor skill learning.
Abstract:
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Title: Neural models for robot motor skill learning.
Abstract:
Abstract: Movement planing is a fundamental skill that is involved in many human motor control tasks. While the hippocampus plays a central role, the functional principles underlying planning are largely unexplored. In this talk, I present a computational model for planning that is derived from theoretical principles of the probabilistic inference framework. Optimal learning rules are inferred and links to the widely used machine learning techniques expectation maximization and policy search are established. As computational model for hippocampal sweeps, we show that the network dynamics are qualitatively similar to transient firing patterns during planning and foraging in the hippocampus of awake behaving rats. In robotic tasks, non-Gaussian hard constraints are modeled, dozens of movement plans are simulated in parallel, and forward and inverse kinematic models are learned simultaneously through interactions with the environment.
Probabilistic computational models of human motor control for robot learning.
Neural models for brain-machine interfaces and anthropomorphic robotics
Probabilistic Movement Models Show that Postural Control Precedes and Predicts Volitional Motor Control
Nature Publishing Group: Scientific Reports, 6 (28455), 2016.
Recurrent Spiking Networks Solve Planning Tasks
Nature Publishing Group: Scientific Reports, 6 (21142), 2016.
Elmar Rueckert joined the Autonomous Systems Labs of Prof. Jan Peters as Post-Doc in March 2014.
At the Technical University Graz, Austria with Prof. Wolfgang Maass.
Rueckert, Elmar; d’Avella, Andrea
Learned parametrized dynamic movement primitives with shared synergies for controlling robotic and musculoskeletal systems
Rueckert, Elmar; Neumann, Gerhard; Toussaint, Marc; Maass, Wolfgang
Learned graphical models for probabilistic planning provide a new class of movement primitives
At the technical University Graz with Prof. Horst Bischof.