Programming Robots with Associative Memories
Today, there are several drawbacks that impede the necessary and much needed use of robot learning techniques in real applications. First, the time needed to achieve the synthesis of any behavior is prohibitive. Second, the robot behavior during the learning phase is "by definition" bad, it may even be dangerous. Third, except within the lazy learning approach, a new behavior implies a new learning phase. We propose in this paper to use self-organizing maps to encode the non explicit model of the robot-world interaction sampled by the lazy memory, and then generate a robot behavior by means of situations to be achieved, i.e., points on the self-organizing maps. Any behavior can instantaneously be synthesized by the definition of a goal situation. Its performance will be minimal (not evidently bad) and will improve by the mere repetition of the behavior.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE Office of Science (SC)
- DOE Contract Number:
- AC05-96OR22464
- OSTI ID:
- 8073
- Report Number(s):
- ORNL/CP-103319; KC 04 01 03 0; ON: DE00008073
- Resource Relation:
- Conference: International Joint Conference on Neural networks, Washington, DC, July 10-16, 1999
- Country of Publication:
- United States
- Language:
- English
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