By Olivier Sigaud, Jan Peters
From an engineering viewpoint, the expanding complexity of robot platforms and the expanding call for for extra autonomously studying robots, has turn into crucial. This publication is essentially according to the profitable workshop “From motor to interplay studying in robots” held on the IEEE/RSJ overseas convention on clever robotic structures. the main goal of the e-book is to offer scholars the themes defined above an opportunity to start speedier and researchers a beneficial compandium.
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Additional info for From Motor Learning to Interaction Learning in Robots
In: IEEE World Conference on Computational Intelligence, Proceedings, pp. 147–152. Anchorage, Alaska (1998) 74. : A real-world rational agent: Unifying old and new AI. Cogn. Sci. 27, 561–590 (2003) 75. : Adaptive fields: distributed representations of classically conditioned associations. Network 2(2), 189–206 (1991) 76. : Distributed adaptive control: The selforganization of structured behavior. Rob. Auton. Syst. 9, 181–196 (1993) 77. : Categorization, representations, and the dynamics of system-environment interaction: a case study in autonomous systems.
8 A). The output of the camera was its unique input connected to a neural model (Fig. 8 B). The processing hierarchy was composed of five-layers of leaky integrator units, providing them with a local transient memory, with both inhibitory intra-area and excitatory feed-forward inter-area connections. The convergence of the feed-forward connectivity and the temporal integration constant increase while moving up in the hierarchy. The objective function is evaluated autonomously at each layer. The weights of the feed-forward connections are updated by an online unsupervised learning algorithm (gradient descent) guided by the objective function.
The core of the synthetic insect system is the path integration sub-system. To integrate the path of a journey, information about the heading direction, and distance traveled must be stored in a path memory. Evidently, also a mechanism for the readout of the path memory must be available. Path memory and readout are both implemented based on the concept of population code regarding the neurophysiological constraints [22, 9]. The heading direction assessment is based on a model of the solar compass of insects.