Applying intrinsic motivation for visuomotor learning of robot arm motion

Shun Nishide, Harumitsu Nobuta, Hiroshi G. Okuno, Tetsuya Ogata

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

    Abstract

    In this paper, we present a method to apply intrinsic motivation for improving visuomotor learning of robot's arm with external object in view. Multiple Timescales Recurrent Neural Network (MTRNN) is utilized for learning the robot arm/external object dynamics. Training of MTRNN is done using the Back Propagation Through Time (BPTT) algorithm. BPTT algorithm is modified as follows. 1. Evaluate predictability of robot arm/objects using training error of MTRNN. 2. Assign a preference ratio to each object based on predictability. The preference ratio represents the weight of each object to training. Experiments were conducted using an actual robot moving the arm while a human moves his arm in the robot's camera view. The result of the experiment showed that the proposed method presents better training result of robot arm visuomotor dynamics compared to general training with BPTT.

    Original languageEnglish
    Title of host publication2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages364-367
    Number of pages4
    ISBN (Electronic)9781479953325
    DOIs
    Publication statusPublished - 2014
    Event2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 - Kuala Lumpur, Malaysia
    Duration: 2014 Nov 122014 Nov 15

    Other

    Other2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014
    CountryMalaysia
    CityKuala Lumpur
    Period14/11/1214/11/15

    Keywords

    • Cognitive Developmental Robotics
    • Intrinsic Motivation
    • Recurrent Neural Network

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

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  • Cite this

    Nishide, S., Nobuta, H., Okuno, H. G., & Ogata, T. (2014). Applying intrinsic motivation for visuomotor learning of robot arm motion. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (pp. 364-367). [7057370] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2014.7057370