A neural framework for robot motor learning based on memory consolidation

Heni Ben Amor, Shuhei Ikemoto, Takashi Minato, Bernhard Jung, Hiroshi Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Neural networks are a popular technique for learning the adaptive control of non-linear plants. When applied to the complex control of android robots, however, they suffer from serious limitations such as the moving target problem, i.e. the interference between old and newly learned knowledge. However, in order to achieve lifelong learning, it is important that robots are able to acquire new motor skills without for-getting previously learned ones. To overcome these problems, we propose a new framework for motor learning, which is based on consolidation. The framework contains a new rehearsal algorithm for retaining previously acquired knowledge and a growing neural network. In experiments, the framework was successfully applied to an artifical benchmark problem and a real-world android robot.

Original languageEnglish (US)
Title of host publicationAdaptive and Natural Computing Algorithms - 8th International Conference, ICANNGA 2007, Proceedings
PublisherSpringer Verlag
Pages641-648
Number of pages8
EditionPART 2
ISBN (Print)9783540715900
DOIs
StatePublished - Jan 1 2007
Event8th International Conference on Adaptive and Natural Computing Algorithms, ICANNGA 2007 - Warsaw, Poland
Duration: Apr 11 2007Apr 14 2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume4432 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other8th International Conference on Adaptive and Natural Computing Algorithms, ICANNGA 2007
CountryPoland
CityWarsaw
Period4/11/074/14/07

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Ben Amor, H., Ikemoto, S., Minato, T., Jung, B., & Ishiguro, H. (2007). A neural framework for robot motor learning based on memory consolidation. In Adaptive and Natural Computing Algorithms - 8th International Conference, ICANNGA 2007, Proceedings (PART 2 ed., pp. 641-648). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4432 LNCS, No. PART 2). Springer Verlag. https://doi.org/10.1007/978-3-540-71629-7_72