/
about.rst.BASE.3677.html
247 lines (207 loc) · 10.5 KB
/
about.rst.BASE.3677.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8" />
<title>About Test — explauto 1.1.1 documentation</title>
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="description" content="">
<meta name="author" content="">
<link rel="stylesheet" href="_static/css/basicstrap-base.css" type="text/css" />
<link rel="stylesheet" href="_static/css/bootstrap.min.css" type="text/css" />
<link rel="stylesheet" href="_static/css/font-awesome.min.css">
<!--[if IE 7]>
<link rel="stylesheet" href="_static/css/font-awesome-ie7.min.css">
<![endif]-->
<style type="text/css">
body {
padding-top: 60px;
padding-bottom: 40px;
}
}
</style>
<link rel="stylesheet" href="_static/basicstrap.css" type="text/css" />
<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
<link rel="stylesheet" href="_static/css/bootstrap-responsive.min.css" type="text/css" />
<script type="text/javascript">
var DOCUMENTATION_OPTIONS = {
URL_ROOT: './',
VERSION: '1.1.1',
COLLAPSE_INDEX: false,
FILE_SUFFIX: '.html',
HAS_SOURCE: true
};
</script>
<script type="text/javascript" src="_static/js/jquery.min.js"></script>
<script type="text/javascript" src="_static/underscore.js"></script>
<script type="text/javascript" src="_static/doctools.js"></script>
<script type="text/javascript" src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS-MML_HTMLorMML"></script>
<script type="text/javascript" src="_static/js/bootstrap.min.js"></script>
<script type="text/javascript">
$(document).ready(function(){
$('.show-sidebar').click(function(e) {
e.preventDefault();
if ($(".show-sidebar").html() == "Open Table Of Contents") {
$('.for-mobile').removeClass('hidden-phone');
$(".show-sidebar").html("Close Table Of Contents");
} else {
$(".show-sidebar").html("Open Table Of Contents");
}
});
});
$(window).load(function () {
/*
* Scroll the window to avoid the topnav bar
* https://github.com/twitter/bootstrap/issues/1768
*/
if ($(".navbar.navbar-fixed-top").length > 0) {
// var navHeight = $(".navbar").height(),
var navHeight = 40,
shiftWindow = function() { scrollBy(0, -navHeight - 10); };
if (location.hash) {
setTimeout(shiftWindow, 1);
}
window.addEventListener("hashchange", shiftWindow);
}
});
</script>
<link rel="author" title="About these documents" href="about.html" />
<link rel="top" title="explauto 1.1.1 documentation" href="index.html" />
</head>
<body role="document">
<div class="navbar navbar-fixed-top " role="navigation" aria-label="top navigation">
<div class="navbar-inner">
<div class="container-fluid">
<a class="btn btn-navbar" data-toggle="collapse" data-target=".nav-collapse">
<span class="icon-bar"></span>
<span class="icon-bar"></span>
<span class="icon-bar"></span>
</a>
<div role="banner">
<a class="brand" href="index.html">explauto 1.1.1 documentation</a>
</div>
<div class="nav-collapse collapse">
<ul class="nav pull-right">
<li>
<a href="genindex.html" title="General Index" accesskey="I">index</a>
</li>
<li>
<a href="py-modindex.html" title="Python Module Index" >modules</a>
</li>
</ul>
</div>
</div>
</div>
</div>
<!-- container -->
<div class="container-fluid">
<div class="row-fluid hidden-desktop hidden-tablet">
<div class="span3 ">
<a class="visible-phone btn btn-small show-sidebar" data-toggle="collapse" data-target=".for-mobile">Open Table Of Contents</a>
<div class="for-mobile sidebar hidden-phone" role="navigation" aria-label="main navigation">
<h3><a href="index.html">Table Of Contents</a></h3>
<ul>
<li><a class="reference internal" href="#">About Test</a><ul>
<li><a class="reference internal" href="#exploration-strategies-in-developmental-robotics">Exploration strategies in Developmental Robotics</a></li>
</ul>
</li>
</ul>
<h3>This Page</h3>
<ul class="this-page-menu">
<li><a href="_sources/about.rst.BASE.3677.txt"
rel="nofollow">Show Source</a></li>
</ul>
<div id="searchbox" role="search">
<h3>Quick search</h3>
<form class="search form-search" action="search.html" method="get">
<div class="input-append">
<input type="text" class="search-query" name="q">
<input type="submit" class="btn" value="Go" />
</div>
<input type="hidden" name="check_keywords" value="yes" />
<input type="hidden" name="area" value="default" />
</form>
<p class="searchtip" style="font-size: 90%">
Enter search terms or a module, class or function name.
</p>
</div>
</div>
</div>
</div>
<!-- row -->
<div class="row-fluid">
<div class="span3 visible-desktop visible-tablet">
<div class=" sidebar hidden-phone" role="navigation" aria-label="main navigation">
<h3><a href="index.html">Table Of Contents</a></h3>
<ul>
<li><a class="reference internal" href="#">About Test</a><ul>
<li><a class="reference internal" href="#exploration-strategies-in-developmental-robotics">Exploration strategies in Developmental Robotics</a></li>
</ul>
</li>
</ul>
<h3>This Page</h3>
<ul class="this-page-menu">
<li><a href="_sources/about.rst.BASE.3677.txt"
rel="nofollow">Show Source</a></li>
</ul>
<div id="searchbox" role="search">
<h3>Quick search</h3>
<form class="search form-search" action="search.html" method="get">
<div class="input-append">
<input type="text" class="search-query" name="q">
<input type="submit" class="btn" value="Go" />
</div>
<input type="hidden" name="check_keywords" value="yes" />
<input type="hidden" name="area" value="default" />
</form>
<p class="searchtip" style="font-size: 90%">
Enter search terms or a module, class or function name.
</p>
</div>
</div>
</div>
<div class="span9">
<div class="document" role="main">
<div class="documentwrapper">
<div class="bodywrapper">
<div class="body">
<div class="section" id="about-test">
<h1>About Test<a class="headerlink" href="#about-test" title="Permalink to this headline">¶</a></h1>
<div class="section" id="exploration-strategies-in-developmental-robotics">
<h2>Exploration strategies in Developmental Robotics<a class="headerlink" href="#exploration-strategies-in-developmental-robotics" title="Permalink to this headline">¶</a></h2>
<p>An important challenge in Developmental Robotics is how robots can efficiently learn sensorimotor mappings by experience, i.e. the mappings between the motor actions they make and the sensory effects they produce. This can be a robot learning how arm movements make physical objects move, or how movements of a virtual vocal tract modulates vocalization sounds.</p>
<p>Learning such mappings involves machine learning algorithms, which are typically regression algorithms to learn forward models, from motor controllers to sensory effects, and optimization algorithms to learn inverse models, from sensory effects, or goals, to the motor programs allowing to reach them.</p>
<p>The problem is that, for most robotic systems, these spaces are high dimensional, the mapping between them is non-linear and redundant, and there is limited time allowed for learning. Thus, if robots explore the world in an unorganized manner, e.g. randomly, learning algorithms will be often ineffective because very sparse data points will be collected. Data are precious due to the high dimensionality and the limited time, whereas date are not equally useful due to non-linearity and redundancy.
This is why learning has to be guided using efficient exploration strategies.</p>
<p>In the recent year, work in developmental learning has explored in particular two families of algorithmic principles which allow the efficient guiding of learning and exploration.</p>
<p>First, the principle of goal babbling was proposed independantly by <a class="reference external" href="http://www.pyoudeyer.com/epirob08OudeyerKaplan.pdf">Oudeyer and Kaplan in 2008</a> and <a class="reference external" href="http://cor-lab.org/system/files/RolfSteilGienger-TAMD2010-GoalBabbling.pdf">Rolf and Steil in 2010</a>. It consists in sampling goals in the sensory effect space and to use the current state of an inverse model to infer a motor action supposed to reach the goals. This strategy allows a progressive covering of the reachable sensory space much more uniformly than in a motor babbling strategy, where the agent samples directly in the motor space.</p>
<p>The second principle is that of active learning and intrinsic motivation, where physical experiments are chosen to gather maximal information gain. Efficient versions of such mechanisms are based on the active choice of learning experiments that maximize learning <em>progress</em>, for e.g. improvement of predictions or of competences to reach goals (<a class="reference external" href="http://web.media.mit.edu/~alockerd/reading/Schmidhuber-curiositysab-1.pdf">Schmidhuber, 1991</a> ; <a class="reference external" href="http://www.pyoudeyer.com/ims.pdf">Oudeyer, 2007</a>). This automatically drives the system to explore and learn first easy skills, and then explore skills of progressively increasing complexity.</p>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
</div><!-- /row -->
<!-- row -->
<div class="row-fluid">
<div class="related navbar " role="navigation" aria-label="related navigation">
<div class="navbar-inner">
<ul class="nav pull-right">
<li><a href="genindex.html" title="General Index" >index</a></li>
<li><a href="py-modindex.html" title="Python Module Index" >modules</a></li>
<li><a href="index.html">explauto 1.1.1 documentation</a></li>
</ul>
</div>
</div>
</div><!-- /row -->
<!-- footer -->
<footer role="contentinfo">
© Copyright 2014, Clement Moulin-Frier, Pierre Rouanet.
Created using <a href="http://sphinx.pocoo.org/">Sphinx</a> 1.2.3.
</footer>
<!-- /footer -->
</div>
<!-- /container -->
</body>
</html>