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dc.contributor.authorDahl, TSen
dc.contributor.authorPierris, Gen
dc.date.accessioned2017-01-17T22:06:47Z
dc.date.available2017-01-17T22:06:47Z
dc.date.issued2017-01-17en
dc.identifier.issn2379-8920en
dc.identifier.urihttp://hdl.handle.net/10026.1/8257
dc.description.abstract

Hierarchical representations and modeling of sensorimotor observations is a fundamental approach for the development of scalable robot control strategies. Previously, we introduced the novel Hierarchical Self-Organizing Map-based Encoding algorithm (HSOME) that is based on a computational model of infant cognition. Each layer is a temporally augmented SOM and every node updates a decaying activation value. The bottom level encodes sensori-motor instances while their temporal associations are hierarchically built on the layers above. In the past, HSOME has shown to support hierarchical encoding of sequential sensor-actuator observations both in abstract domains and real humanoid robots. Two novel features are presented here starting with the novel skill acquisition in the complex domain of learning a double tap tactile gesture between two humanoid robots. During reproduction, the robot can either perform a double tap or prioritize to receive a higher reward by performing a single tap instead. Secondly, HSOME has been extended to recall past observations and reproduce rhythmic patterns in the absence of input relevant to the joints by priming initially the reproduction of specific skills with an input. We also demonstrate in simulation how a complex behavior emerges from the automatic reuse of distinct oscillatory swimming demonstrations of a robotic salamander.

en
dc.language.isoenen
dc.publisherIEEEen
dc.titleLearning Robot Control using a Hierarchical SOM-based Encodingen
dc.typeJournal Article
plymouth.journalIEEE Transactions on Cognitive and Developmental Systemsen
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Research Groups
plymouth.organisational-group/Plymouth/Research Groups/Institute of Health and Community
plymouth.organisational-group/Plymouth/Users by role
dcterms.dateAccepted2016-12-10en
dc.rights.embargoperiodNot knownen
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2017-01-17en
rioxxterms.typeJournal Article/Reviewen


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