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Learning Coupled Forward-Inverse Models with Combined Prediction Errors

Koert, Dorothea ; Maeda, Guilherme ; Neumann, Gerhard ; Peters, Jan (2022):
Learning Coupled Forward-Inverse Models with Combined Prediction Errors. (Postprint)
In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 2433-2439,
Darmstadt, IEEE, International Conference on Robotics and Automation (ICRA) 2018, Brisbane, QLD, Australia, 21.-25.05.2018, e-ISSN 2577-087X, ISBN 978-1-5386-3081-5,
DOI: 10.26083/tuprints-00020546,
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Item Type: Conference or Workshop Item
Origin: Secondary publication service
Status: Postprint
Title: Learning Coupled Forward-Inverse Models with Combined Prediction Errors
Language: English
Abstract:

Challenging tasks in unstructured environments require robots to learn complex models. Given a large amount of information, learning multiple simple models can offer an efficient alternative to a monolithic complex network. Training multiple models-that is, learning their parameters and their responsibilities-has been shown to be prohibitively hard as optimization is prone to local minima. To efficiently learn multiple models for different contexts, we thus develop a new algorithm based on expectation maximization (EM). In contrast to comparable concepts, this algorithm trains multiple modules of paired forward-inverse models by using the prediction errors of both forward and inverse models simultaneously. In particular, we show that our method yields a substantial improvement over only considering the errors of the forward models on tasks where the inverse space contains multiple solutions.

Book Title: 2018 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication: Darmstadt
Publisher: IEEE
Collation: 7 Seiten
Classification DDC: 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik
Divisions: 20 Department of Computer Science > Intelligent Autonomous Systems
TU-Projects: EC/H2020|640554|SKILLS4ROBOTS
Event Title: International Conference on Robotics and Automation (ICRA) 2018
Event Location: Brisbane, QLD, Australia
Event Dates: 21.-25.05.2018
Date Deposited: 18 Nov 2022 14:02
Last Modified: 18 Nov 2022 14:03
DOI: 10.26083/tuprints-00020546
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-205461
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/20546
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