Movement SkillAcquisition using Imitationand Reinforcement Learning

Abstract: This thesis focuses on having a robot learn to play the game of darts. Playing darts involves multiple tasks. For e.g. how to throw a dart and where to target on the board. It has been shown that with a few demonstrations by the user, the robot can learn how to produce trajectories for hitting a given point on the board; with improvement in accuracy along with the experience. On the other hand we showed how a robot can discover regions for hitting on the board so that it can maximize its expected score.