Adding a receding horizon to Locally Weighted Regression for learning robot control
Lehnert, Christopher & Wyeth, Gordon (2011) Adding a receding horizon to Locally Weighted Regression for learning robot control. In Papanikolopoulos, Nikos & Parker, Lynne (Eds.) Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Hilton San Francisco Union Square, San Francisco, California.
There have been notable advances in learning to control complex robotic systems using methods such as Locally Weighted Regression (LWR). In this paper we explore some potential limits of LWR for robotic applications, particularly investigating its application to systems with a long horizon of temporal dependence. We define the horizon of temporal dependence as the delay from a control input to a desired change in output. LWR alone cannot be used in a temporally dependent system to find meaningful control values from only the current state variables and output, as the relationship between the input and the current state is under-constrained. By introducing a receding horizon of the future output states of the system, we show that sufficient constraint is applied to learn good solutions through LWR. The new method, Receding Horizon Locally Weighted Regression (RH-LWR), is demonstrated through one-shot learning on a real Series Elastic Actuator controlling a pendulum.
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|Item Type:||Conference Paper|
|Keywords:||Learning , Adaptive Systems|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2011 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||20 Jul 2011 00:58|
|Last Modified:||23 Jul 2011 16:09|
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