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Rewarded multi-modal neuronal self-organization: Example of the arm reaching movement

Olivier Ménard 1 Hervé Frezza-Buet
1 CORTEX - Neuromimetic intelligence
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : This paper presents a computational model of cortical organization, enhancing the fact that self-organization in connected cortical modules have to be joint. This architecture is validated on the learning of the control of a robotic arm device, through sensori-motor integration. In order to get rid of the use of an inverse model of the arm, the self-organization of the whole network is conditioned by a reward signal. The point of the model is that this reward signal is given at the motor level only, but its effects are spread to the whole architecture by a side effect of the coherence keeping function in the cortical modules. First experiments on this approach are discussed.
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Submitted on : Tuesday, September 26, 2006 - 10:05:44 AM
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  • HAL Id : inria-00099903, version 1



Olivier Ménard, Hervé Frezza-Buet. Rewarded multi-modal neuronal self-organization: Example of the arm reaching movement. International Conference on Advances in Intelligent Systems - Theory and Applications - AISTA'04, Nov 2004, Luxembourg-Kirchberg, Luxembourg, 6 p. ⟨inria-00099903⟩



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