The goal of this subproject is to enable the transfer of the learned task models from the learning cell (C04) to the kinematics of the Transformer-Cell (C01). For this purpose, a data-driven simulation of the Transformer-Cell will be developed and the task models will be refined using interactive reinforcement learning (RL) in the developed simulation. It is using the interactive RL algorithms of, geometric relations of the motion and force profiles of the task models are applied to the kinematics of the Transformer-Cell. It deals with meta-learning and the use of the knowledge base to transfer new task models to the Transformer-Cell more quickly.

Principal Investigators