Censi, Andrea and Murray, Richard M. (2012) Learning diffeomorphism models of robotic sensorimotor cascades. In: 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 3657-3664. ISBN 978-1-4673-1403-9 http://resolver.caltech.edu/CaltechAUTHORS:20120703-110333250
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The problem of bootstrapping consists in designing agents that can learn from scratch the model of their sensorimotor cascade (the series of robot actuators, the external world, and the robot sensors) and use it to achieve useful tasks. In principle, we would want to design agents that can work for any robot dynamics and any robot sensor(s). One of the difficulties of this problem is the fact that the observations are very high dimensional, the dynamics is nonlinear, and there is a wide range of “representation nuisances” to which we would want the agent to be robust. In this paper, we model the dynamics of sensorimotor cascades using diffeomorphisms of the sensel space. We show that this model captures the dynamics of camera and range-finder data, that it can be used for long-term predictions, and that it can capture nonlinear phenomena such as a limited field of view. Moreover, by analyzing the learned diffeomorphisms it is possible to recover the “linear structure” of the dynamics independently of the commands representation.
|Item Type:||Book Section|
|Additional Information:||© 2012 IEEE. Date of Current Version: 28 June 2012. We are grateful to Larry Matthies, Thomas Werne, Marco Pavone at JPL for lending the Landroid platform and assisting with the software development. Part of this research has been supported by the DARPA MSEE program.|
|Official Citation:||Censi, Andrea; Murray, Richard M.; , "Learning diffeomorphism models of robotic sensorimotor cascades," Robotics and Automation (ICRA), 2012 IEEE International Conference on , vol., no., pp.3657-3664, 14-18 May 2012 doi: 10.1109/ICRA.2012.6225318 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225318&isnumber=6224548|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Tony Diaz|
|Deposited On:||06 Jul 2012 20:32|
|Last Modified:||27 Sep 2012 23:51|
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