Bootstrapping bilinear models of robotic sensorimotor cascades
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 sensors with bilinear dynamics, for which the derivative of the observations is 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 sensors (field sampler, camera, and range-finder), apparently very different from one another. It also allows a bootstrapping algorithm based on Hebbian learning, and a simple bioplausible control strategy. The convergence properties of learning and control are demonstrated with extensive simulations and by analytical arguments.
Andrea Censi Richard M. Murray
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4318-4325
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）