1. A GOAL-ORIENTATION FRAMEWORK FOR SELF-ORGANIZING CONTROL.
- Author
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HESSE, FRANK and WÖRGÖTTER, FLORENTIN
- Subjects
SELF-organizing systems ,AUTONOMOUS robots ,PROCESS control systems ,REINFORCEMENT learning ,INSTRUCTIONAL systems ,EDUCATIONAL technology ,EDUCATIONAL planning - Abstract
Self-organization, especially in the framework of embodiment in biologically inspired robots, allows the acquisition of behavioral primitives by autonomous robots themselves. However, it is an open question how self-organization of basic motor primitives and goal-orientation can be combined, which is a prerequisite for the usefulness of such systems. In the paper at hand we propose a goal-orientation framework allowing the combination of self-organization and goal-orientation for the control of autonomous robots in a mutually independent fashion. Self-organization based motor primitives are employed to achieve a given goal. This requires less initial knowledge about the properties of robot and environment and increases adaptivity of the overall system. A combination of self-organization and reward-based learning seems thus a promising route for the development of adaptive learning systems. [ABSTRACT FROM AUTHOR]
- Published
- 2013
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