Connectionist Robot Motion Planning

Preface Acknowledgments 1 Introduction 2 MURPHY's Organization The Physical Setup The Connectionist Architecture Representational Choices MURPHY's Kinematics Traditional Methods Connectionist Kinematics The Sequential Controller 3 How MURPHY Learns Learning by Doing Abridged History of the Idea Motivating Sigma-Pi Learning Connectionist Supervised Associative Learning A Historical Quandary New Algorithms Are More Powerful, Less Biological Changing Assumptions Learning Functions with Lookup-Tables Building Receptive Fields with Multiplication Sigma-Pi Learning The Sigma-Pi Unit The Learning Rule An Example Generalization to Novel Inputs K-d Tree Reimplementation 4 MURPHY in Action Planning with Gradient Descent Motion Planning with Obstacles Four Visual Routines The Search Procedure Discussion Visual-Feedback Control System Performance and Scaling Behavior Implementation and Performance Notes Scaling MURPHY Up 5 Robotics Issues Learning vs. Built-in Models Style of Representation Using the Full Visual Channel Styles of Robot Motion Planning Artificial Potential Fields: Local Methods Geometric Motion Planning: Global Methods Hybrid Methods: Incorporating Heuristic Search MURPHY Uses Direct Heuristic Search 6 Psychological Issues Psychoanalyzing MURPHY Development and Plasticity in Limb Control The Necessity of Active Sensory-Motor Learning Developmental Evidence for Two Modes of Control Possible Evidence for Local Learning Models, Imagery, Practice, and Stability Building and Using Mental Models Mental Imagery Mental Practice: Learning by Thinking Corollary Discharges and Perceptual Stability Summary of Psychological Issues 7 Biological Issues The Muscle Interface A Cortical Basis for Visual Limb Control A Programmed-Feedforward Neural Subsystem A Visual-Feedback Neural Subsystem Summary of Biological Issues 8 Conclusions Scientific and Engineering Lessons Learned Learning by Doing Learning with Lookup-Tables The Connectionist Architecture Mental Models, Heuristic Search Reflections on Brain and Behavior Future Directions Pragmatic Extensions Theoretical Extensions Bibliography Index