title: Serendipitous Offline Learning in a Neuromorphic Robot.
abstract: We demonstrate a hybrid neuromorphic learning paradigm that learns complex sensorimotor mappings based on a small set of hard-coded reflex behaviors. A mobile robot is first controlled by a basic set of reflexive hand-designed behaviors. All sensor data is provided via a spike-based silicon retina camera (eDVS), and all control is implemented via spiking neurons simulated on neuromorphic hardware (SpiNNaker). Given this control system, the robot is capable of simple obstacle avoidance and random exploration. To train the robot to perform more complex tasks, we observe the robot and find instances where the robot accidentally performs the desired action. Data recorded from the robot during these times is then used to update the neural control system, increasing the likelihood of the robot performing that task in the future, given a similar sensor state. As an example application of this general-purpose method of training, we demonstrate the robot learning to respond to novel sensory stimuli (a mirror) by turning right if it is present at an intersection, and otherwise turning left. In general, this system can learn arbitrary relations between sensory input and motor behavior.
authors.affiliation: Centre for Theoretical Neuroscience, University of Waterloo , Waterloo, ON , Canada.
authors.forename: Terrence C
authors.initials: TC
authors.lastname: Stewart
authors.affiliation: Mobile Intelligent Autonomous Systems Group, Council for Scientific and Industrial Research , Pretoria , South Africa.
authors.forename: Ashley
authors.initials: A
authors.lastname: Kleinhans
authors.affiliation: School of Computer Science, University of Manchester , Manchester , UK.
authors.forename: Andrew
authors.initials: A
authors.lastname: Mundy
authors.affiliation: Department of Electrical and Computer Engineering, Technische Universität München , München , Germany.
authors.forename: Jörg
authors.initials: J
authors.lastname: Conradt
keywords: adaptive systems; mobile robotics; neurocontrollers; neuromorphics; robot control