Todorov, E and Ghahramani, Z (2003) Unsupervised learning of sensory-motor primitives. In: Proceedings of the 25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society: A New Beginning for Human Health. (pp. 1750 - 1753). IEEE Computer Society: Piscataway, US.
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The search for motor primitives has captured the attention of researches in both biological and computational motor control. Yet a theory of how to construct such primitives from first principles is lacking. Here we propose to do that by building a compact forward model of the sensory-motor periphery via unsupervised learning. We also propose a method for probabilistic inversion of the forward model, which yields low-level feedback loops that can simplify control. The idea is applied to simulated biomechanical systems of varying levels of detail.
|Title:||Unsupervised learning of sensory-motor primitives|
|UCL classification:||UCL > School of BEAMS > Faculty of Engineering Science > Computer Science|
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