Dynamic Sensorimotor Model for open-ended acquisition of tool-use R. Braud, A. Pitti, P. Gaussier A - Context :
B - Proposed model :
- Open ended robotic - Tool Use : from low to high level skills Sensorimotor theory
- Encodes covaration laws between sensors and motors : dS = M
- Psychology :
Ideomotor principle and common coding Simulation theory
- Uses motor and sensor simulations, for motor control and creation of sub-goals on-the-fly (SLS) C - Dynamic Sensorimotor Model (DSM) :
GOAL Working Memory Selected
Distance Computation (DC)
Priority Selection (PS)
Selected
Efficiency Weighting
1) A goal (desired sensory pattern) is selected 2) The distances from current to desired sensory configuration are computed 3) Distances are sent to the simulation mechanism (SLS) 4) Each SLS generate sub-goals and motor commands
SUB-GOALS
D - Tool-use experiment : - The robot learns its sensorimotor laws (including body schema extension when the tool is grasped) - In a reaching task, it makes a detour to grasp the tool if necessary
sensors and motors : dS = M. - Uses motor and sensor simulations, for motor control and creation of ... Tool Use : from low to high level skills. A - Context :.
reach the target directly, fails, then make a detour to grasp a tool perceived as an extension of ... (e.g., action planing, tool-use) share common learning mech- anisms. A continuous .... The target is in the top-right corner, and, in the ... the em
... technology for the coordination of various business processes, such as loan ... Workflow model is the basis for workflow execution. In ...... One way to deal with ...
Apr 18, 2007 - 1 Center for Neurobiology and Behavior, Columbia University College of Physicians and Surgeons, New York, NY 10032, ... cross the road, we need to first look left in the US, and right ...... commonplace in human behaviors.
hand movements and a high degree of voluntary attentional control in directing fixations .... a function α(d) that associates the data with an hypothesis. A ..... Computer Science Division (2002). [6] A. De ... movements. Science, 265 540-543, 1994.
Ting, L. H. & Macpherson, J. M. A limited set of muscle synergies for force control during a postural task. J Neurophysiol 93 ... A. Platform perturbation kinematics.
Virtual actuator control. In: IEEE International Conference on Intelligent Robots and Systems. pp. 1219â1226. Savin, J., August 2011. Digital human manikins for ...
Figure 2: An illustration of the equivalence between single layers ... assignments as Bernoulli random variables and draw a dif- ..... lowed by 50% Dropout.
Jul 30, 2011 - changes in spectral activity induced by other sources and exogenous. (e.g., stimulus) ..... of model alternatives, all one can do is âmotivate model space carefullyâ .... The free-energy principle: a unified brain theory? Nat. Rev.
A three-dimensional dynamic posture prediction model for simulating in-vehicle seated reaching movements is presented. The model employs a four-segment ...
known about the traffic characteristics of wireless networks. It was shown in [1] that wireless traffic traces do indeed exhibit a certain degree of self-similarity and ...
the current account balance and the real exchange rate. ... a number of real frictions, such as habit formation in consumption, investment adjustment costs ...... also define the following equations: Real imports. (. ) m t t t t m Q c im. = +. (A30).
The availability of precise high-quality and high-volume data sets of traffic ... to forecast real-time traffic workload could make dynamic resource allocation more ...
as MAP [7]) and speaker space family (such as eigenvoice. [6]). .... a global weight vector is learned for all phone classes of test ..... Signal Processing, vol. 9, pp.
Average Data from. International Cities. Data from BPS, and. Recent studies. Method Multiple linear variables Energy Modelling. Analysis Growth, VKT (veh.kilo ...
was modulated owing to the individuals' learning, kinematic data of the test1/2 ...... It is now well established that kinematic laws of motion exist. (for example ... (C26A13ZJN4) and by the EU Information and Communication Tech- nologies ...
5.3 Who Buys ADSL? ... B.4 PSTN to ADSL Transition Sensitivity . ...... When contemplating the issue of computational tractability and speed, itrs interesting ..... seems left(skewed and this is confirmed by a DrAgostino test for skewness, so a ...
tax structure. High statutory tax rates, various exemptions and narrow tax bases characterize .... savings and tax payments. Let t ... k be her stock of assets in t and tr the interest rate. If ..... 6 Author's estimate based on DANE national account
A Dynamic Model of Price Signaling and Consumer. Learningâ. Matthew Osborneâ and Adam Hale Shapiroâ¡. March 7, 2012. Preliminary Draft: Please do not cite without the authors' permission. Abstract. We develop a model of consumer learning and pric
Aug 21, 2008 - would imply minimal changes in post-privatization firm performance in the ..... G.3 Meanwhile, by entitling G to monitor, government ownership allows ...... âRent Seeking and Government Ownership of Firms: An Application to ...
productivity is not affected by the agent's birth date. Government collects taxes on labor income, capital income and consumption. We assume that the capital ...
Tochigi 321-8585, Japan [email protected]. Fig. 1. Experimental system. the PDFs of the human participant and those of a control model. The experiment is conducted using a virtual tracking sys- tem [9]. The common virtual mechanical system (contro
Nov 22, 2014 - consumers' beliefs about the product's quality by altering both the price and ... price and quality, accounting for the fact that its choice will affect ...