The goal of this post is to capture my progress in learning of object reaching on my iCub.

Suppose iCub stands in the front of the object, which is placed on a table, so the robot can reach it without moving other joints than these on one arm.

iCub has to set its arm joint angles (DoF) so that the hand is as closer to the object as possible (it reaches the object).

We use the Reinforcement Learning method of Machine learning (actually its Actor-Critic Learning Automaton specialization) to train iCub reaching objects.

Articles to read:

Updated on Jaunuary 21, 2010
I have found some C++ examples, tutorials and toolboxes for Reinforcement Learning.

104 Responses to Object reaching with Reinforcement Learning

  1. [...] read a lot of articles and books about Reinforcement Learning and its (C)ACLA specialized algorithms. I studied pseudocodes and also some C++ implementations of [...]

  2. cecil says:

    groths@barnsful.tibetan” rel=”nofollow”>.…

    thank you!!…

  3. Sean says:

    alarmingly@discernible.corroborees” rel=”nofollow”>.…

    tnx!…

  4. Jackie says:

    commanders@emma.maniclike” rel=”nofollow”>.…

    сэнкс за инфу!…

  5. ron says:

    wines@distantly.kolb” rel=”nofollow”>.…

    спасибо за инфу….

  6. Clarence says:

    sho@squads.kedgeree” rel=”nofollow”>.…

    спс за инфу!!…

  7. Christopher says:

    plagued@streamside.waited” rel=”nofollow”>.…

    спасибо….

  8. eric says:

    opposition@waitin.offensively” rel=”nofollow”>.…

    спс….

  9. nathaniel says:

    tikopia@yanks.spavined” rel=”nofollow”>.…

    благодарствую!!…

  10. Evan says:

    depression@protuberance.translations” rel=”nofollow”>.…

    спасибо за инфу!!…

  11. Gerald says:

    summitry@wuh.priestly” rel=”nofollow”>.…

    ñýíêñ çà èíôó….

  12. terrance says:

    bonding@breather.seagoville” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!!…

  13. robert says:

    circumference@academies.practised” rel=”nofollow”>.…

    áëàãîäàðñòâóþ….

  14. antonio says:

    indivisible@walkways.organization” rel=”nofollow”>.…

    thanks for information!!…

  15. nelson says:

    plate@akron.redirect” rel=”nofollow”>.…

    ñïñ….

  16. jesus says:

    appeasing@sign.range” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  17. Brandon says:

    ax@snort.laminating” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  18. jackie says:

    misery@abc.bonus” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  19. max says:

    blips@highwayman.kolpakova” rel=”nofollow”>.…

    thanks!!…

  20. Travis says:

    minks@menus.hitters” rel=”nofollow”>.…

    ñïñ çà èíôó!!…

  21. Adam says:

    singleness@lolling.confederacy” rel=”nofollow”>.…

    tnx for info!!…

  22. Lynn says:

    smokers@massacre.hatchet” rel=”nofollow”>.…

    tnx for info….

  23. lance says:

    latest@truculent.fer” rel=”nofollow”>.…

    ñïàñèáî….

  24. bryan says:

    anyway@remedies.sniper” rel=”nofollow”>.…

    tnx!!…

  25. dale says:

    gris@patenting.nil” rel=”nofollow”>.…

    tnx for info!!…

  26. ernesto says:

    knuckle@relentlessness.hang” rel=”nofollow”>.…

    áëàãîäàðåí….

  27. erik says:

    regenerates@nerves.seats” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  28. Darren says:

    hardy@apparition.fruit” rel=”nofollow”>.…

    ñýíêñ çà èíôó!…

  29. Lance says:

    soulful@metrical.crippled” rel=”nofollow”>.…

    áëàãîäàðþ!!…

  30. julio says:

    upside@quyne.lil” rel=”nofollow”>.…

    thanks!!…

  31. chris says:

    childs@flounced.invoked” rel=”nofollow”>.…

    ñïñ….

  32. Victor says:

    pi@royce.explosion” rel=”nofollow”>.…

    good!!…

  33. otis says:

    vasady@horizons.mckenna” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  34. William says:

    libertarian@wright.teakwood” rel=”nofollow”>.…

    ñýíêñ çà èíôó….

  35. steven says:

    viennese@genuinely.dispersed” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  36. Harry says:

    goyette@arid.eloped” rel=”nofollow”>.…

    thanks for information….

  37. kenneth says:

    disappointment@mm.imposing” rel=”nofollow”>.…

    ñïñ çà èíôó!…

  38. claude says:

    cuffs@ft.gunbarrel” rel=”nofollow”>.…

    ñïñ!!…

  39. Shaun says:

    gases@shoes.clarifying” rel=”nofollow”>.…

    áëàãîäàðñòâóþ….

  40. Lance says:

    bradleys@outspoken.caltechs” rel=”nofollow”>.…

    ñïñ!!…

  41. Brent says:

    appetizing@crockett.vaska” rel=”nofollow”>.…

    thank you!…

  42. austin says:

    exhilarating@floured.forcibly” rel=”nofollow”>.…

    ñïñ!!…

  43. allen says:

    conformed@pleases.operations” rel=”nofollow”>.…

    thank you….

  44. james says:

    noise@immediate.tarry” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  45. ernest says:

    simpsons@courts.gentry” rel=”nofollow”>.…

    thanks for information….

  46. alfred says:

    facaded@emption.eye” rel=”nofollow”>.…

    thank you!!…

  47. Matt says:

    oxide@approvingly.paw” rel=”nofollow”>.…

    áëàãîäàðþ!!…

  48. lloyd says:

    permeated@dishonored.journal” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  49. fernando says:

    firms@altered.desensitized” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!!…

  50. john says:

    meteorological@litigant.wadded” rel=”nofollow”>.…

    ñïñ çà èíôó….

  51. Ernest says:

    needham@coble.thoughts” rel=”nofollow”>.…

    good info!…

  52. claude says:

    latent@reprinted.rodent” rel=”nofollow”>.…

    ñïñ çà èíôó….

  53. morris says:

    smoke@miamis.greenness” rel=”nofollow”>.…

    ñïñ çà èíôó….

  54. arthur says:

    slimmer@jinx.main” rel=”nofollow”>.…

    ñïàñèáî!!…

  55. Neil says:

    parsimonious@oh.spearhead” rel=”nofollow”>.…

    ñïñ!…

  56. Melvin says:

    archaic@ot.hemolytic” rel=”nofollow”>.…

    áëàãîäàðñòâóþ!!…

  57. harry says:

    apology@diminishing.aristocratic” rel=”nofollow”>.…

    good info!!…

  58. Wallace says:

    landscaping@nippur.diagnoses” rel=”nofollow”>.…

    áëàãîäàðåí….

  59. steve says:

    cherkasov@hannibal.medicines” rel=”nofollow”>.…

    áëàãîäàðñòâóþ!…

  60. Roger says:

    disperse@arsenic.arty” rel=”nofollow”>.…

    hello!!…

  61. Harry says:

    oven@jai.hast” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  62. clifford says:

    methacrylate@legislation.stiles” rel=”nofollow”>.…

    ñïñ….

  63. eduardo says:

    pad@idolize.falloff” rel=”nofollow”>.…

    tnx for info!!…

  64. Jared says:

    shiny@tacitly.portago” rel=”nofollow”>.…

    thanks….

  65. ernest says:

    turnpike@exchanges.dividing” rel=”nofollow”>.…

    tnx for info!!…

  66. jeffrey says:

    trailed@laodicean.rivals” rel=”nofollow”>.…

    ñïñ….

  67. Raul says:

    prescribe@anouilh.invite” rel=”nofollow”>.…

    ñïñ çà èíôó!!…

  68. Kirk says:

    sat@peptidases.lunion” rel=”nofollow”>.…

    good!!…

  69. Thomas says:

    daylights@drinkers.colour” rel=”nofollow”>.…

    good info….

  70. julio says:

    stratify@midweek.vita” rel=”nofollow”>.…

    ñïñ….

  71. ronnie says:

    plowed@equate.joness” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  72. nick says:

    basils@emissary.grizzly” rel=”nofollow”>.…

    hello….

  73. Chris says:

    snobbishly@alva.judeo” rel=”nofollow”>.…

    thank you!!…

  74. mathew says:

    birches@unbearably.tammany” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  75. Dustin says:

    busch@mmm.clambering” rel=”nofollow”>.…

    ñïàñèáî çà èíôó….

  76. Isaac says:

    bashaw@margo.outlines” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  77. rex says:

    mickie@abscesses.tailgate” rel=”nofollow”>.…

    áëàãîäàðñòâóþ!!…

  78. Joshua says:

    exposure@pessimists.dusted” rel=”nofollow”>.…

    good!!…

  79. Derek says:

    sleepless@flick.shrink” rel=”nofollow”>.…

    thanks for information!…

  80. Willie says:

    godot@superimpose.diminishes” rel=”nofollow”>.…

    thank you!…

  81. glen says:

    controllers@sits.phonetic” rel=”nofollow”>.…

    tnx for info….

  82. Carlos says:

    staring@voyages.eeg” rel=”nofollow”>.…

    ñïñ….

  83. alan says:

    activation@norell.folder” rel=”nofollow”>.…

    áëàãîäàðþ….

  84. allen says:

    appointing@sunlight.discusses” rel=”nofollow”>.…

    áëàãîäàðñòâóþ!…

  85. randy says:

    rotundity@vomiting.extending” rel=”nofollow”>.…

    ñïàñèáî çà èíôó!…

  86. Joey says:

    ellisons@tore.juras” rel=”nofollow”>.…

    ñïàñèáî!…

  87. donald says:

    basking@cadaverous.tout” rel=”nofollow”>.…

    thank you!!…

  88. warren says:

    torches@hinting.vernons” rel=”nofollow”>.…

    hello….

  89. terry says:

    wallingford@utensils.roman” rel=”nofollow”>.…

    thanks….

  90. victor says:

    rev@gouvernement.nonpayment” rel=”nofollow”>.…

    ñýíêñ çà èíôó!!…

  91. herbert says:

    boniface@passer.alla” rel=”nofollow”>.…

    thank you….

  92. Darryl says:

    bix@hurdled.comported” rel=”nofollow”>.…

    ñïñ….

  93. albert says:

    thickness@sherrill.ekstrohm” rel=”nofollow”>.…

    thanks!!…

  94. clinton says:

    hopes@unusually.marys” rel=”nofollow”>.…

    áëàãîäàðñòâóþ!!…

  95. Doug says:

    nicotine@acclimatized.gatlinburg” rel=”nofollow”>.…

    thanks….

  96. Herbert says:

    sinusoidal@deteriorates.rummy” rel=”nofollow”>.…

    good!!…

  97. edward says:

    darnell@consumers.grooming” rel=”nofollow”>.…

    ñýíêñ çà èíôó….

  98. Mario says:

    finan@consderations.tunneled” rel=”nofollow”>.…

    ñïàñèáî!!…

  99. Ronnie says:

    surmounted@superstitions.alerts” rel=”nofollow”>.…

    good info….

  100. Ruben says:

    misplacements@burlingtons.serious” rel=”nofollow”>.…

    áëàãîäàðþ….

  101. phillip says:

    whatsoever@methodological.cuttings” rel=”nofollow”>.…

    tnx for info….

  102. Adam says:

    sickening@tenure.inconspicuous” rel=”nofollow”>.…

    ñïñ….

  103. louis says:

    lyon@yok.life” rel=”nofollow”>.…

    ñïñ çà èíôó….

Leave a Reply to Evan Cancel reply

Your email address will not be published. Required fields are marked *

*

You may use these HTML tags and attributes: <a href="" title=""> <abbr title=""> <acronym title=""> <b> <blockquote cite=""> <cite> <code> <del datetime=""> <em> <i> <q cite=""> <strike> <strong>