Online Goal Babbling for rapid bootstrapping of inverse models in high dimensions

2011 IEEE International Conference on Development and Learning, ICDL 2011

Volumn , Issue , 2011, Pages

  Rolf, Matthias ^a   Steil, Jochen J ^a   Gienger, Michael ^b  

^a BIELEFELD UNIVERSITY   (Germany)

^b HONDA RESEARCH INSTITUTE EUROPE GMBH   (Germany)

Author keywords

Goal Babbling; Sensorimotor Exploration

Indexed keywords

CLOSED LOOPS; GOAL BABBLING; HIGH DIMENSIONS; HIGH-DIMENSIONAL; HIGH-DIMENSIONAL SYSTEMS; INVERSE MODELS; ONLINE LEARNING; ORDERS OF MAGNITUDE; SENSORIMOTOR EXPLORATION; SPEED-UPS;

ONLINE SYSTEMS;

EID: 80055025176     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/DEVLRN.2011.6037368     Document Type: Conference Paper

References (26)

1. D. Wolpert, R. C. Miall, and M. Kawato, "Internal models in the cerebellum," Trends in Cog. Sci., vol. 2, no. 9, 1998.
2. P. Gaudiano and D. Bullock, "Vector associative maps unsupervised realtime error-based learning and control of movement trajectoires," Neural networks, vol. 4, no. 2, pp. 147-183, 1991.
3. Y. Demiris and A. Dearden, "From motor babbling to hierarchical learning by imitation: A robot developmental pathway," in EpiRob, 2005.
4. R. Martinez-Cantin, M. Lopes, and L. Montesano, "Body schema acquisition through active learning," in ICRA, 2010.
5. A. Baranes and P.-Y. Oudeyer, "Robust intrinsically motivated exploration and active learning," in ICDL, 2009.
6. E. L. Deci and R. M. Ryan, Intrinsic Motivation and Self-Determination in Human Behavior. Plenum Press, 1985.
7. N. Bernstein, The Co-ordination and Regulation of Movements. Pergamon Press, 1967.
8. D. Bullock, S. Grossberg, and F. H. Guenther, "A self-organizing neural model of motor equivalent reaching and tool use by a multijoint arm," Cognitive Neuroscience, vol. 5, no. 4, 1993.
9. E. W. Bushnell, "The decline of visually guided reaching during infancy," Infant Behavior and Development, vol. 8, no. 2, 1985.
10. L. Out, A. J. van Soest, G. P. Savelsbergh, and B. Hopkins, "The effect of posture on early reaching movements," Journal of Motor Behavior, vol. 30, no. 3, 1998.
11. M. Rolf, J. J. Steil, and M. Gienger, "Efficient exploration and learning of whole body kinematics," in ICDL, 2009.
12. C. von Hofsten, "Eye-hand coordination in the newborn," Developmental Psychology, vol. 18, no. 3, 1982.
13. L. Ronnquist and C. von Hofsten, "Neonatal finger and arm movements as determined by a social and an object context," Early Development and Parenting, vol. 3, no. 2, pp. 81-94, 1994.
14. M. Rolf, J. J. Steil, and M. Gienger, "Mastering growth while bootstrapping sensorimotor coordination," in EpiRob, 2010.
15. M. Kawato, "Feedback-error-learning neural network for supervised motor learning," in Advanced Neural Computers. Elsevier, 1990.
16. M. Jordan and D. Rumelhart, "Forward models: supervised learning with distal teacher," Cognitive Science, vol. 16, pp. 307-354, 1992.
17. A. D'Souza, S. Vijayakumar, and S. Schaal, "Learning inverse kinematics," in IROS, 2001.
18. J. Peters and S. Schaal, "Reinforcement learning by reward-weighted regression for operational space control," in ICML, 2007.
19. A. Baranes and P.-Y. Oudeyer, "Maturationally-constrained competence-based intrinsically motivated learning," in ICDL, 2010.
20. M. Rolf, J. J. Steil, and M. Gienger, "Goal babbling permits direct learning of inverse kinematics," IEEE Trans. Auto. Mental Development, vol. 2, no. 3, 2010.
21. H. Ritter, "Learning with the self-organizing map," in Artificial Neural Networks, T. Kohonen, Ed. Elsevier Science, 1991.
22. U. Sailer, J. R. Flanagan, and R. S. Johansson, "Eye-hand coordination during learning of a novel visuomotor task," Journal of Neuroscience, vol. 25, no. 39, pp. 8833-8842, 2005.
23. A. Baranes and P.-Y. Oudeyer, "Intrinsically motivated goal exploration for active motor learning in robots: A case study," in IROS, 2010.
24. N. E. Berthier and R. Keen, "Development of reaching in infancy," Experimental Brain Research, vol. 169, no. 4, 2005.
25. J. Baily, "Adaptation to prisms: Do proprioceptive changes mediate adapted behaviour with ballistic arm movements?" The Quarterly Journal of Experimental Psychology, 1972.
26. M. V. Butz, O. Herbort, and J. Hoffmann, "Exploiting redundancy for flexible behavior: unsupervised learning in a modular sensorimotor control architecture," Psychological Review, vol. 114, no. 4, 2007.