Skip to Main content Skip to Navigation
Conference papers

Reusing Motor Commands to Learn Object Interaction

Fabien Benureau 1 Paul Fudal 1 Pierre-Yves Oudeyer 1
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
Abstract : We propose the Reuse algorithm, that exploit data produced during the exploration of an first environment to efficiently bootstrap the exploration of second, different but related environment. The effect of the Reuse algorithm is to produce a high diversity of effects early during exploration. The algorithm only constrains the environments to share the same motor space, and makes no assumptions about learning algorithms or sensory modalities. We illustrate our algorithm on a 6-joints robotic arm interacting with a virtual object, and show that our algorithm is robust to dissimilar environments, and significantly improves the early exploration of similar ones.
Document type :
Conference papers
Complete list of metadatas

Cited literature [25 references]  Display  Hide  Download
Contributor : Fabien C. Y. Benureau <>
Submitted on : Wednesday, October 15, 2014 - 3:23:53 PM
Last modification on : Wednesday, January 6, 2021 - 4:03:36 PM
Long-term archiving on: : Friday, April 14, 2017 - 12:52:53 PM


Files produced by the author(s)


  • HAL Id : hal-01074822, version 1



Fabien Benureau, Paul Fudal, Pierre-Yves Oudeyer. Reusing Motor Commands to Learn Object Interaction. ICDL-EPIROB 2014, Oct 2014, Genoa, Italy. ⟨hal-01074822⟩



Record views


Files downloads