Unsupervised Learning and Temporal Context to Recall Complex Robot Trajectories

摘要

An unsupervised neural network is proposed to learn and recall complex robot trajectories. Two cases are considered: (i) A single trajectory in which a particular arm configuration (state) may occur more than once, and (ii) trajectories sharing states with each other. Ambiguities occur in both cases during recall of such trajectories. The proposed model consists of two groups of synaptic weights trained by competitive and Hebbian learning laws. They are responsible for encoding spatial and temporal features of the input sequences, respectively. Three mechanisms allow the network to deal with repeated or shared states: local and global context units, neurons disabled from learning, and redundancy. The network reproduces the current and the next state of the learned sequences and is able to resolve ambiguities. The model was simulated over various sets of robot trajectories in order to evaluate learning and recall, trajectory sampling effects and robustness.