Bootstrapping Motor Skill Learning with Motion Planning
Ben Abbatematteo,Eric Rosen,Stefanie Tellex,George Konidaris,Ben Abbatematteo,Eric Rosen,Stefanie Tellex,George Konidaris
Learning a robot motor skill from scratch is impractically slow; so much so that in practice, learning must typically be bootstrapped using human demonstration. However, relying on human demonstration necessarily degrades the autonomy of robots that must learn a wide variety of skills over their operational lifetimes. We propose using kinematic motion planning as a completely autonomous, sample ef...
