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Invited Talk
1) Neuroscience and Humanoid Robots - Hierarchiscal, Modular
Reinforcement Learning with MOSAIC
Computational neuroscience is the discipline which integrates
humanoid
robotics and traditional empirical studies of brain by
proposing
computational theories, implementing them on humanoids for
examination of
their computational competence, and finally examining
them in carefully
designed biological experiments. In ATR
Computational Neuroscience
Laboratories, several theories have been
proposed. For example, cerebellar
internal models, MOSAIC,
basal-ganglia Q learning, neuromodulator hypothesis
and so on. All
of these were recently supported by experiments and some
have been
implemented on humanoid robots. On robotics side,
supervised
learning of internal models, imitation learning,
reinforcement
learning, three different eye movements, 3-D object
recognition with
tracking, biologically motivated biped locomotion have
been
successfully implemented on several humanoid robots including DB,
CB
and Qrio. My own recent theoretical interests are
around
hierarchical, modular reinforcement learning scheme with
MOSAIC
(MOdular Selection And Identification Controller) model. Here,
in
the lower level with continuous-time and continuous-state space,
the
continuous reinforcement learning problem is solved
while
discretizing the state space with a finite number of predictors.
On
the top level, discrete-time discrete-space Q-learning problem
is
solved with the discretization by the lower level. The upper
level
actions define low-level reward functions (sub-goals) and
ultimately
determine value functions. Sub-goals are updated based on the
real
reward from the environment. Thus, the proposed scheme is the
first
framework of the hierarchical reinforcement learning which does
not
depend on ad-hoc manually tuned divisions of the state space
or
sub-goals.
2) Humanoid Robots
Step Up to Perform Human Tasks - Our R&D Challenge
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Mr. Tadahiro Kawada,
President of Kawada Industries Inc.
Date: Dec.7th, 9:00-10:00
Place: Room 101
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Kawada Industries Inc. was launched on the development of humanoid robots
when it was involved in H6 and H7 projects of the University of Tokyo.
This talk presents our technological background leading to the projects
at first.
Kawada Industries Inc. then attended the Humanoid Robotics Project of METI,
the Ministry of Economy, Trade and Industries of the Japanese Government,
and had developed HRP-2 which is the first human-size humanoid robot that
can get up and lie down as well as fall down safely. Kawada Industries Inc. had developed a biped walking dinosaur robot that
has been displayed in Expo 2005 Aichi. This talk overviews the history of the developments. The current activities of Kawada Industries Inc. are also presented with
a future plan and perspectives.
Go to Session Plan
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