NDLI: Learning and use of sensorimotor schemata maps

Content Provider	IEEE Xplore Digital Library
Author	Glaser, C. Joublin, F. Goerick, C.
Copyright Year	2009
Description	Author affiliation: Honda Research Institute Europe, Carl-Legien-Strasse 30, 63073 Offenbach, Germany (Glaser, C.; Joublin, F.; Goerick, C.)
Abstract	In this paper we present a framework for the learning and use of sensorimotor schemata. Therefore, we introduce the concept of a schema as a compact representation of an attractor dynamic and discuss how schemata, if embedded into the proposed architecture, can be used to produce, simulate, or recognize goal-directed behaviors. We further present a first implementation of the framework which incorporates well-founded biological principles. Firstly, we apply population coding for the representation of schemata in a neural map and, secondly, we use basis functions as flexible intermediate representations for sensorimotor transformations. Simulation results show that during an initial motor babbling phase the system is able to autonomously develop schemata which correspond to generic behaviors. Moreover, the learned sensorimotor schemata map is topologically ordered insofar as neighboring schemata represent similar behaviors. In accordance with biological findings on the motor system of vertebrates the schemata form a set of behavior primitives which can be flexibly combined to yield more complex behaviors.
Starting Page	1
Ending Page	8
File Size	522823
Page Count	8
File Format	PDF
ISBN	9781424441174
DOI	10.1109/DEVLRN.2009.5175509
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-05
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Recurrent neural networks Inverse problems Biological system modeling Europe Switches Predictive models Spatiotemporal phenomena Electronic mail Topology Robots
Content Type	Text
Resource Type	Article

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