Robot Learning: Exploration and Continuous Domains

David A. Cohn MIT Dept. of Brain and Cognitive Sciences Cambridge, MA 02139 The goal of this workshop was to discuss two major issues: efficient exploration of a learner's state space, and learning in continuous domains. The common themes that emerged in presentations and in discussion were the importance of choosing one'sdomain assumptions carefully, mixing controllers/strategies, avoidance of catastrophic failure, new approaches with difficulties with reinforcement learning, and the importance of task transfer. He suggested that neither "fewer assumptions are better" nor "more assumptions are better" is a tenable position, and that we should strive to find and use standard sets of assumptions. With no such commonality, comparison of techniques and results is meaningless. Under Moore's guidance, the group discussed the possibility of designing an algorithm which used a number of well-chosen assumption sets and switched between them according to their empirical validity.