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Rapid Learning in Robotics

Rapid Learning in Robotics

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03/18/2014

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J rg Walter
J\u00f6rg Walter
Die Deutsche Bibliothek \u2014 CIP Data
Walter, J\u00f6rg
Rapid Learning in Robotics / by J\u00f6rg Walter, 1st ed.
G\u00f6ttingen: Cuvillier, 1996
Zugl.: Bielefeld , Univ., Diss. 1996
ISBN 3-89588-728-5
Copyright:
c
\ue000
1997,1996forelectronicpublishing: J\u00f6rgWalter
Technische Fakult\u00e4t, Universit\u00e4t Bielefeld, AG Neuroinformatik
PBox 100131, 33615 Bielefeld , Germ any
Email: walter@techfak.uni-bielefeld.de
Url: http:/ / www.techfak.uni-bielefeld.de/
\ue001
walter/
c
\ue000
1997 for hard copy publishing: Cuvillier Verlag
Nonnenstieg 8, D-37075 G\u00f6ttingen, Germany, Fax: +49-551-54724-21
J\u00f6rg A. Walter
Rapid Learning in Robotics

Robotics deals with the control of actuators using various types of sensors and control schemes. The availability of precise sensorimotor mappings \u2013 able to transform between various involved motor, joint, sensor, and physical spaces \u2013 is a crucial issue. These mappings are often highly non- linear and sometimes hard to derive analytically. Consequently, there is a strong need for rapid learning algorithms which take into account that the acquisition of training data is often a costly operation.

The present book discusses many of the issues that are important to make learning approaches in robotics more feasible. Basis for the major part of the discussion is a new learning algorithm, theParameterized Self-Organizing

M aps, that is derived from a model of neural self-organization. A key

feature of the new method is the rapid construction of even highly non- linear variable relations from rather modestly-sized training data sets by exploiting topology information that is not utilized in more traditional ap- proaches. In addition, the author shows how this approach can be used in a modular fashion, leading to a learning architecture for the acquisition of basic skills during an \u201cinvestment learning\u201d phase, and, subsequently, for their rapid combination to adapt to new situational contexts.

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