An Experiment in Morphological Development for Learning ANN Based Controllers
| UDC.coleccion | Investigación | es_ES |
| UDC.conferenceTitle | International Joint Conference on Neural Networks (IJCNN) | es_ES |
| UDC.departamento | Ciencias da Computación e Tecnoloxías da Información | es_ES |
| UDC.endPage | 8 | es_ES |
| UDC.grupoInv | Grupo Integrado de Enxeñaría (GII) | es_ES |
| UDC.institutoCentro | CITENI - Centro de Investigación en Tecnoloxías Navais e Industriais | es_ES |
| UDC.startPage | 1 | es_ES |
| UDC.volume | 2020 | es_ES |
| dc.contributor.author | Naya-Varela, M. | |
| dc.contributor.author | Faíña, José Andrés | |
| dc.contributor.author | Duro, Richard J. | |
| dc.date.accessioned | 2024-09-30T13:51:35Z | |
| dc.date.available | 2024-09-30T13:51:35Z | |
| dc.date.issued | 2020 | |
| dc.description | This version of the paper has been accepted for publication. The final published paper is available online at: https://doi.org/10.1109/IJCNN48605.2020.9206749. | es_ES |
| dc.description | Published in: 2020 International Joint Conference on Neural Networks (IJCNN), Glasgow, UK, 19-24 July 2020. | es_ES |
| dc.description.abstract | [Abstract]: Morphological development is part of the way any human or animal learns. The learning processes starts with the morphology at birth and progresses through changing morphologies until adulthood is reached. Biologically, this seems to facilitate learning and make it more robust. However, when this approach is transferred to robotic systems, the results found in the literature are inconsistent: morphological development does not provide a learning advantage in every case. In fact, it can lead to poorer results than when learning with a fixed morphology. In this paper we analyze some of the issues involved by means of a simple, but very informative experiment in quadruped walking. From the results obtained an initial series of insights on when and under what conditions to apply morphological development for learning are presented. | es_ES |
| dc.description.sponsorship | This work has been partially funded by the Ministerio de Ciencia, Innovación y Universidades of Spain/FEDER (grant RTI2018-101114-B-I00), Xunta de Galicia and FEDER (grant ED431C 2017/12) and M. Naya-Varela is very grateful for the support of the UDC-Inditex 2019 grant for international mobility. We also want to thank CESGA (Centro de Supercomputación de Galicia. https://www.cesga.es/) for the possibility of using its resources. | es_ES |
| dc.description.sponsorship | Xunta de Galicia; ED431C 2017/12 | es_ES |
| dc.identifier.citation | M. Naya-Varela, A. Faina and R. J. Duro, "An Experiment in Morphological Development for Learning ANN Based Controllers," 2020 International Joint Conference on Neural Networks (IJCNN), Glasgow, UK, 2020, pp. 1-8, doi: 10.1109/IJCNN48605.2020.9206749 | es_ES |
| dc.identifier.doi | 10.1109/IJCNN48605.2020.9206749 | |
| dc.identifier.isbn | 978-1-7281-6926-2 | |
| dc.identifier.issn | 2161-4407 | |
| dc.identifier.uri | http://hdl.handle.net/2183/39309 | |
| dc.language.iso | eng | es_ES |
| dc.publisher | Institute of Electrical and Electronics Engineers | es_ES |
| dc.relation.projectID | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-101114-B-I00/ES/ ARQUITECTURA COGNITIVA PARA ROBOTS CON ADAPTACION DE COMPORTAMIENTO AUTONOMAMENTE MOTIVADA | es_ES |
| dc.relation.uri | https://doi.org/10.1109/IJCNN48605.2020.9206749 | es_ES |
| dc.rights | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | es_ES |
| dc.rights.accessRights | open access | es_ES |
| dc.subject | Cognitive robotics | es_ES |
| dc.subject | Morphological development (MD) | es_ES |
| dc.subject | Quadrupedal walking | es_ES |
| dc.title | An Experiment in Morphological Development for Learning ANN Based Controllers | es_ES |
| dc.type | conference output | es_ES |
| dspace.entity.type | Publication | |
| relation.isAuthorOfPublication | a3082627-8669-4257-8e06-9d5155b5bb31 | |
| relation.isAuthorOfPublication | e575435a-d72b-4442-a1f5-0a7c4b3f6871 | |
| relation.isAuthorOfPublication | 85df8d3f-49d3-4327-811d-e8038cead7dd | |
| relation.isAuthorOfPublication.latestForDiscovery | a3082627-8669-4257-8e06-9d5155b5bb31 |
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