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Published in:
2012 | OriginalPaper | Chapter
Reward-Driven Self-Organization
Authors : Ralf Der, Georg Martius
Published in: The Playful Machine
Publisher: Springer Berlin Heidelberg
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In this chapter we investigate how to guide the self-organization process by providing an online reward or punishment. The starting point for the following considerations is that the homeokinetic controller explores the behavioral space of the controlled system and that those behaviors which are well predictable will persist longer than others. The idea we pursue in this chapter is to regulate the lifetimes of the transient according to the reward or punishment. The mechanism is applied to the
Spherical
with two goals, fast motion and curved rolling.