Rolf, Matthias: Goal babbling for an efficient bootstrapping of inverse models in high dimensions. 2012
Inhalt
- Contents
- List of Figures
- Introduction
- Autonomous Learning of Coordination Skills
- The Coordination Problem
- Internal Models for Coordination
- Exhaustive Learning of Forward Models
- Learning of Inverse Models
- A Framework for Goal Babbling
- Inspiration from Infant Development
- Concept: Goal Babbling
- Method: Learning Inverse Models from Examples
- Inversion of Causality in Linear Domains
- Two Spaces and their Gradients in Linear Domains
- Fixpoint Analysis for Explorative Learning
- Numeric simulation results
- Discussion
- Coordination Problems with Non-Convex Solution Sets
- Non-convex Solution Sets during Goal Babbling
- Structured Variation and Regularization
- Examples
- Experiments
- Planar Arm: 1D Coordination Task
- Planar Arm: 2D Coordination Task
- Humanoid robot: 3D Coordination Task
- Discussion
- Online Learning Dynamics during Goal Babbling
- Application on a Bionic Elephant Trunk
- Bionic Handling Assistant Setup
- Online Goal Babbling Formulation
- BHA Experiments
- Non-Stationary Behavior in Simulation
- Kinematic Simulation of the Bionic Handling Assistant
- Varying Ranges and Sensory Drifts
- Morphological Growth
- Discussion
- Conclusion
- Bibliography