Physical Sciences and Mathematics Commons^™

Efficient Self-Supervised Deep Sensorimotor Learning In Robotics, Takeshi Takahashi

Doctoral Dissertations

Deep learning has been successful in a variety of applications, such as object recognition, video games, and machine translation. Deep neural networks can automatically learn important features given large training datasets. However, the success of deep learning in robotic systems in the real world is still limited mainly because obtaining large datasets and labeling are costly. As a result, much of the successful work in deep learning has been limited to domains where large datasets are readily available or easily collected. To address this issue, I propose a framework for acquiring re-usable skills efficiently combining intrinsic motivation and the control …