Dimension reduction by Manifold Learning for Evolutionary Learning with redundant sensory inputs

Abstract

The optimization of the number and the alignment of sensors is quite important task for designing intelligent agents/robotics. Even though we could use excellent learning algorithms, it will not work well if the alignment of sensors is wrong or the number of sensors is not enough. In addition, if a large number of sensors are available, it will cause the delay of learning. In this paper, we propose the use of Manifold Learning for Evolutionary Learning with redundant sensory inputs in order to avoid the difficulty of designing the allocation of sensors. The proposed method is composed of two stages: The first stage is to generate a mapping from higher dimensional sensory inputs to lower dimensional space, by using Manifold Learning. The second stage is using Evolutionary Learning to learn control scheme. The input data for Evolutionary Learning is generated by translating sensory inputs into lower dimensional data by using the mapping.