Censi, Andrea and Murray, Richard M. (2010) Bootstrapping bilinear models of robotic sensorimotor cascades. California Institute of Technology , Pasadena, CA. (Unpublished) https://resolver.caltech.edu/CaltechCDSTR:2010.003a
This is the latest version of this item.
![[img]](https://authors.library.caltech.edu/style/images/fileicons/application_pdf.png)
|
PDF
See Usage Policy. 8MB |
Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechCDSTR:2010.003a
Abstract
We consider the bootstrapping problem, which consists in learning a model of the agent's sensors and actuators starting from zero prior information, and we take the problem of servoing as a cross-modal task to validate the learned models. We study the class of bilinear dynamics sensors, in which the derivative of the observations are a bilinear form of the control commands and the observations themselves. This class of models is simple yet general enough to represent the main phenomena of three representative robotics sensors (field sampler, camera, and range-finder), apparently very different from one another. It also allows a bootstrapping algorithm based on hebbian learning, and that leads to a simple and bioplausible control strategy. The convergence properties of learning and control are demonstrated with extensive simulations and by analytical arguments.
| Item Type: | Report or Paper (Technical Report) | ||||||
|---|---|---|---|---|---|---|---|
| Related URLs: |
| ||||||
| ORCID: |
| ||||||
| Group: | Control and Dynamical Systems Technical Reports | ||||||
| Record Number: | CaltechCDSTR:2010.003a | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechCDSTR:2010.003a | ||||||
| Usage Policy: | You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format. | ||||||
| ID Code: | 28142 | ||||||
| Collection: | CaltechCDSTR | ||||||
| Deposited By: | Imported from CaltechCDSTR | ||||||
| Deposited On: | 20 Sep 2010 | ||||||
| Last Modified: | 09 Mar 2020 13:18 |
Available Versions of this Item
-
Collisional Particle Pressure Measurements in Solid-Liquid Flows. (deposited 09 Nov 2004)
- Bootstrapping bilinear models of robotic sensorimotor cascades. (deposited 20 Sep 2010) [Currently Displayed]
Repository Staff Only: item control page
