Autonomous Skill Acquisition on a Mobile Manipulator


  • George Konidaris Massachusetts Institute of Technology
  • Scott Kuindersma University of Massachusetts Amherst
  • Roderic Grupen University of Massachusetts Amherst
  • Andrew Barto University of Massachusetts Amherst


We describe a robot system that autonomously acquires skills through interaction with its environment. The robot learns to sequence the execution of a set of innate controllers to solve a task, extracts and retains components of that solution as portable skills, and then transfers those skills to reduce the time required to learn to solve a second task.




How to Cite

Konidaris, G., Kuindersma, S., Grupen, R., & Barto, A. (2011). Autonomous Skill Acquisition on a Mobile Manipulator. Proceedings of the AAAI Conference on Artificial Intelligence, 25(1), 1468-1473. Retrieved from