A multiagent reinforcement learning approach for inverse kinematics of high dimensional manipulators with precision positioning
Flexible manipulators based on soft robotic technologies demonstrate compliance and
dexterous maneuverability with virtually infinite degrees-of-freedom. Such systems have …
dexterous maneuverability with virtually infinite degrees-of-freedom. Such systems have …
Goal-directed exploration for learning vowels and syllables: a computational model of speech acquisition
A Philippsen - KI-Künstliche Intelligenz, 2021 - Springer
Infants learn to speak rapidly during their first years of life, gradually improving from simple
vowel-like sounds to larger consonant-vowel complexes. Learning to control their vocal tract …
vowel-like sounds to larger consonant-vowel complexes. Learning to control their vocal tract …
Goal-related feedback guides motor exploration and redundancy resolution in human motor skill acquisition
The plasticity of the human nervous system allows us to acquire an open-ended repository
of sensorimotor skills in adulthood, such as the mastery of tools, musical instruments or …
of sensorimotor skills in adulthood, such as the mastery of tools, musical instruments or …
Goal babbling of acoustic-articulatory models with adaptive exploration noise
AK Philippsen, RF Reinhart… - 2016 Joint IEEE …, 2016 - ieeexplore.ieee.org
We use goal babbling to bootstrap a parametric model of speech production for a complex
3D vocal tract model. The system learns to control the articulators for producing five different …
3D vocal tract model. The system learns to control the articulators for producing five different …
Online body schema adaptation based on internal mental simulation and multisensory feedback
In this paper, we describe a novel approach to obtain automatic adaptation of the robot body
schema and to improve the robot perceptual and motor skills based on this body knowledge …
schema and to improve the robot perceptual and motor skills based on this body knowledge …
Explauto: an open-source Python library to study autonomous exploration in developmental robotics
C Moulin-Frier, P Rouanet… - … on Development and …, 2014 - ieeexplore.ieee.org
The Explauto library provides a common platform to the Developmental Robotics community
allowing the integration and comparison of various exploration strategies driving various …
allowing the integration and comparison of various exploration strategies driving various …
Incremental adaptation of a robot body schema based on touch events
The termbody schema'refers to a computational representation of a physical body; the
neural representation of a human body, or the numerical representation of a robot body. In …
neural representation of a human body, or the numerical representation of a robot body. In …
Interest-driven exploration with observational learning for developmental robots
It has been emphasized for a long time that real-world applications of developmental robots
require lifelong and online learning. A major challenge in this field is the high sample …
require lifelong and online learning. A major challenge in this field is the high sample …
What are goals? And if so, how many?
Goals are concepts used in many different areas of robotics, artificial intelligence,
psychology, neuroscience, and also philosophy. Despite the wide usage, there is no …
psychology, neuroscience, and also philosophy. Despite the wide usage, there is no …
Learning inverse statics models efficiently with symmetry-based exploration
Learning (inverse) kinematics and dynamics models of dexterous robots for the entire action
or observation space is challenging and costly. Sampling the entire space is usually …
or observation space is challenging and costly. Sampling the entire space is usually …