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Neurobiology studies showed that the role of the anterior cingulate cortex of the brain is primarily responsible for avoiding repeated mistakes. According to vigilance threshold, which denotes the tolerance to risks, we can differentiate between a learning mechanism that takes risks, and one that averts risks. The tolerance to risk plays an important role in such learning mechanism. Results have shown...
This paper presents a novel approach to acquire dynamic whole-body movements on humanoid robots focused on learning a control policy for the center of mass. A policy-gradient method is used to acquire a CoM movement as a control policy for achieving a desired dynamic task. A CoM-Jacobian-based redundancy resolution is then used to compute angular velocities for all joints in order to achieve a whole-body...
Imitation is a vast topic for both human sciences and robotics. Recent advances in the understanding of the neural mechanisms of imitation offer methodologies that bring the two research domains closer. In this paper we analyze how an imitation system can be bootstrapped from a non-imitative system at an abstract level so that the ideas derived can be applicable to infant development as well as robotics...
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