Bayesian Policy Search with Policy Priors

These are some supporting videos for the paper Bayesian Policy Search with Policy Priors by David Wingate, Noah D. Goodman, Daniel M. Roy, Leslie P. Kaelbling and Joshua B. Tenenbaum, published in International Joint Conference on Artificial Intelligence (IJCAI), 2011.

The videos illustrate the differences that structured prior knowledge with an appropriate policy search algorithm can make in complex domains with reusable chunks of policy:

A human attempting to control the snake robot.

An RRT controlling the snake robot.

Results of Bayesian policy search on the snake robot.

BONUS: Results of Bayesian policy search on a spider robot.

 
The top of a fluffy cloud.