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A Hierarchical Multi-module Learning System Based on Self-interpretation of Instructions by Coach
Yasutake Takahashi1,2, Koichi Hikita1, and Minoru Asada1,2
1Dept. of Adaptive Machine Systems, Graduate School of Engineering
yasutake@er.ams.eng.osaka-u.ac.jp
khikita@er.ams.eng.osaka-u.ac.jp
asada@er.ams.eng.osaka-u.ac.jp
2Handai Frontier Research Center, Osaka University, Yamadagaoka 2-1, Suita, Osaka, Japan
http://www.er.ams.eng.osaka-u.ac.jp
Abstract. We propose a hierarchical multi-module leaning system based on self-interpretation of instructions by coach. The proposed method enables a robot to decompose (i) a long term task which needs various kinds of information into a sequence of short term subtasks which need much less information through its self-interpretation process for the instructions given by coach, (ii) to select sensory information needed to each subtask, and (iii) to integrate the learned behaviors to accomplish the given long term task. We show a preliminary result of a simple soccer situation in the context of RoboCup.
LNAI 3020, p. 576 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004