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Machine learning for fast quadrupedal locomotion
 in The Nineteenth National Conference on Artificial Intelligence
, 2004
"... For a robot, the ability to get from one place to another is one of the most basic skills. However, locomotion on legged robots is a challenging multidimensional control problem. This paper presents a machine learning approach to legged locomotion, with all training done on the physical robots. The ..."
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Cited by 120 (34 self)
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. The main contributions are a specification of our fully automated learning environment and a detailed empirical comparison of four different machine learning algorithms for learning quadrupedal locomotion. The resulting learned walk is considerably faster than all previously reported handcoded walks
Machine Learning for Fast Quadrupedal Locomotion
 in The Nineteenth National Conference on Artificial Intelligence
, 2004
"... For a robot, the ability to get from one place to another is one of the most basic skills. However, locomotion on legged robots is a challenging multidimensional control problem. ..."
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For a robot, the ability to get from one place to another is one of the most basic skills. However, locomotion on legged robots is a challenging multidimensional control problem.
Policy Gradient Reinforcement Learning for Fast Quadrupedal Locomotion
 in Proceedings of the IEEE International Conference on Robotics and Automation
, 2004
"... This paper presents a machine learning approach to optimizing a quadrupedal trot gait for forward speed. Given a parameterized walk designed for a specific robot, we propose using a form of policy gradient reinforcement learning to automatically search the set of possible parameters with the goal of ..."
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Cited by 145 (15 self)
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This paper presents a machine learning approach to optimizing a quadrupedal trot gait for forward speed. Given a parameterized walk designed for a specific robot, we propose using a form of policy gradient reinforcement learning to automatically search the set of possible parameters with the goal
Ensemble Methods in Machine Learning
 MULTIPLE CLASSIFIER SYSTEMS, LBCS1857
, 2000
"... Ensemble methods are learning algorithms that construct a set of classifiers and then classify new data points by taking a (weighted) vote of their predictions. The original ensemble method is Bayesian averaging, but more recent algorithms include errorcorrecting output coding, Bagging, and boostin ..."
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Cited by 607 (3 self)
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Ensemble methods are learning algorithms that construct a set of classifiers and then classify new data points by taking a (weighted) vote of their predictions. The original ensemble method is Bayesian averaging, but more recent algorithms include errorcorrecting output coding, Bagging
Fast Effective Rule Induction
, 1995
"... Many existing rule learning systems are computationally expensive on large noisy datasets. In this paper we evaluate the recentlyproposed rule learning algorithm IREP on a large and diverse collection of benchmark problems. We show that while IREP is extremely efficient, it frequently gives error r ..."
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Cited by 1257 (21 self)
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Many existing rule learning systems are computationally expensive on large noisy datasets. In this paper we evaluate the recentlyproposed rule learning algorithm IREP on a large and diverse collection of benchmark problems. We show that while IREP is extremely efficient, it frequently gives error
Making LargeScale Support Vector Machine Learning Practical
, 1998
"... Training a support vector machine (SVM) leads to a quadratic optimization problem with bound constraints and one linear equality constraint. Despite the fact that this type of problem is well understood, there are many issues to be considered in designing an SVM learner. In particular, for large lea ..."
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Cited by 620 (1 self)
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Training a support vector machine (SVM) leads to a quadratic optimization problem with bound constraints and one linear equality constraint. Despite the fact that this type of problem is well understood, there are many issues to be considered in designing an SVM learner. In particular, for large
Fast Algorithms for Mining Association Rules
, 1994
"... We consider the problem of discovering association rules between items in a large database of sales transactions. We present two new algorithms for solving this problem that are fundamentally different from the known algorithms. Empirical evaluation shows that these algorithms outperform the known a ..."
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Cited by 3551 (15 self)
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We consider the problem of discovering association rules between items in a large database of sales transactions. We present two new algorithms for solving this problem that are fundamentally different from the known algorithms. Empirical evaluation shows that these algorithms outperform the known algorithms by factors ranging from three for small problems to more than an order of magnitude for large problems. We also show how the best features of the two proposed algorithms can be combined into a hybrid algorithm, called AprioriHybrid. Scaleup experiments show that AprioriHybrid scales linearly with the number of transactions. AprioriHybrid also has excellent scaleup properties with respect to the transaction size and the number of items in the database.
Fast Parallel Algorithms for ShortRange Molecular Dynamics
 JOURNAL OF COMPUTATIONAL PHYSICS
, 1995
"... Three parallel algorithms for classical molecular dynamics are presented. The first assigns each processor a fixed subset of atoms; the second assigns each a fixed subset of interatomic forces to compute; the third assigns each a fixed spatial region. The algorithms are suitable for molecular dyn ..."
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Cited by 622 (6 self)
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dynamics models which can be difficult to parallelize efficiently  those with shortrange forces where the neighbors of each atom change rapidly. They can be implemented on any distributedmemory parallel machine which allows for messagepassing of data between independently executing processors
Fast Planning Through Planning Graph Analysis
 ARTIFICIAL INTELLIGENCE
, 1995
"... We introduce a new approach to planning in STRIPSlike domains based on constructing and analyzing a compact structure we call a Planning Graph. We describe a new planner, Graphplan, that uses this paradigm. Graphplan always returns a shortest possible partialorder plan, or states that no valid pla ..."
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Cited by 1165 (3 self)
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We introduce a new approach to planning in STRIPSlike domains based on constructing and analyzing a compact structure we call a Planning Graph. We describe a new planner, Graphplan, that uses this paradigm. Graphplan always returns a shortest possible partialorder plan, or states that no valid plan exists. We provide empirical evidence in favor of this approach, showing that Graphplan outperforms the totalorder planner, Prodigy, and the partialorder planner, UCPOP, on a variety of interesting natural and artificial planning problems. We also give empirical evidence that the plans produced by Graphplan are quite sensible. Since searches made by this approach are fundamentally different from the searches of other common planning methods, they provide a new perspective on the planning problem.
Sketchpad: A manmachine graphical communication system
, 2003
"... The Sketchpad system uses drawing as a novel communication medium for a computer. The system contains input, output, and computation programs which enable it to interpret information drawn directly on a computer display. It has been used to draw electrical, mechanical, scientific, mathematical, and ..."
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Cited by 702 (6 self)
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The Sketchpad system uses drawing as a novel communication medium for a computer. The system contains input, output, and computation programs which enable it to interpret information drawn directly on a computer display. It has been used to draw electrical, mechanical, scientific, mathematical, and animated drawings; it is a general purpose system. Sketchpad has shown the most usefulness as an aid to the understanding of processes, such as the notion of linkages, which can be described with pictures. Sketchpad also makes it easy to draw highly repetitive or highly accurate drawings and to change drawings previously drawn with it. The many drawings in this thesis were all made with Sketchpad.
Results 1  10
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