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, ENSTA ParisTech 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.
Type de document :
Communication dans un congrès
ICDL-EPIROB 2014, Oct 2014, Genoa, Italy
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https://hal.inria.fr/hal-01074822
Contributeur : Fabien Benureau <>
Soumis le : mercredi 15 octobre 2014 - 15:23:53
Dernière modification le : vendredi 6 janvier 2017 - 01:22:39
Document(s) archivé(s) le : vendredi 14 avril 2017 - 12:52:53

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

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