Online Multimodal Ensemble Learning Using Self-Learned Sensorimotor Representations

Abstract

Internal models play a key role in cognitive agents by providing on the one hand predictions of sensory consequences of motor commands (forward models), and on the other hand inverse mappings (inverse models) to realize tasks involving control loops, such as imitation tasks. The ability to predict and generate new actions in continuously evolving environments intrinsically requiring the use of different sensory modalities is particularly relevant for autonomous robots, which must also be able to adapt their models online. We present a learning architecture based on self-learned multimodal sensorimotor representations. To attain accurate forward models, we propose an online heterogeneous ensemble learning method that allows us to improve the prediction accuracy by leveraging differences of multiple diverse predictors. We further propose a method to learn inverse models on-the-fly to equip a robot with multimodal learning skills to perform imitation tasks using multiple sensory modalities. We have evaluated the proposed methods on an iCub humanoid robot. Since no assumptions are made on the robot kinematic/dynamic structure, the method can be applied to different robotic platforms.