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Bootstrapping of parameterized skills through hybrid optimization in task and policy[...]
Appendix B: Details of Hybrid CMA-ES Update
3. Bootstrapping of Parameterized Skills
3.1. Selection of Policy Representation
3.2. Selection of Policy Optimization Algorithm
3.3. Selection of Learning Algorithm
3.4. Experiments
3.4.1. 10-DOF Planar Arm via-Point Task
3.4.2. Reaching Through a Grid
3.5. Results
4. Optimization in Hybrid Spaces
4.1. CMA-ES in Hybrid Spaces
4.1.1. HCMA-ES-V1
4.1.2. HCMA-ES-V2
4.2. Implementation of the Parameterized Skill
5. Evaluation on Toy Scenarios
5.1. Overshoot
5.2. Multiple Minima
5.3. Results
6. Evaluation on Robotic Scenarios
7. Discussion and Conclusion
7.1. Conclusion
Author Contributions
Funding
Acknowledgments
References
Appendix A: Details of CMA-ES Update
Appendix B: Details of Hybrid CMA-ES Update
Journal Article
Bootstrapping of parameterized skills through hybrid optimization in task and policy spaces
Place and Date of Creation
2018
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