Using locally weighted regression for robot learning

Abstract

The use of locally weighted regression in memory-based robot learning is explored. A local model is formed to answer each query, using a weighted regression in which close points (similar experiences) are weighted more than distant points (less relevant experiences). This approach implements a philosophy of modeling a complex function with many simple local models. The author explains how an appropriate distance metric or measure of similarity can be found, and how the distance metric is used. How irrelevant input variables and terms in the local model are detected is also explained. An example from the control of a robot arm is used to compare this approach with other robot control and learning techniques.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>