Hierarchical refinement of skills and skill application for autonomous robots

One of the major goals in designing learning robots is to let these robots develop useful skills over time. These skills are not only related to physical actions of the robot, but also to the coordination of activities, communication with humans, and active sensing. Throughout this paper, the interdependency between these different kinds of skills is analyzed. For the case of elementary action skills and coordination skills, methods for inegration of skill application and refinement are developed. It is shown that this integration has the potential to support long-term learning and autonomous experimentation.

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