PSOM Network: Learning with Few Examples

Walter JA (1998)
In: Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98). 3. IEEE: 2054-2059.

Conference Paper | Published | English

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Abstract
We discuss the “parametrized self-organizing maps” (PSOM) as a learning method for rapidly creating high-dimensional, continuous mappings. By making use of available topological information the PSOM shows excellent generalization capabilities from a small set of training data. The PSOM provides, as an important generalization, a flexibly usable continuous associate memory. Task specifications for redundant manipulators often leave the problem of picking one action from a subspace of possible alternatives. The PSOM approach offers a flexible and compact form to select various constraint and target functions previously associated. We present application results for learning several kinematic relations of a hydraulic robot finger in a single PSOM module. Based on only 27 data points, the PSOM learns the inverse kinematic with a mean positioning accuracy of 1% of the entire workspace. Also, the PSOM learns various ways to resolve the redundancy problem for positioning a 4-DOF manipulator
Publishing Year
Conference
IEEE International Conference on Robotics and Automation, 1998.
Location
Leuven
Conference Date
1998-05-16 – 1998-05-20
ISSN
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Cite this

Walter JA. PSOM Network: Learning with Few Examples. In: Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98). Vol 3. IEEE; 1998: 2054-2059.
Walter, J. A. (1998). PSOM Network: Learning with Few Examples. Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98), 3, 2054-2059.
Walter, J. A. (1998). “PSOM Network: Learning with Few Examples” in Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98), vol. 3, (IEEE), 2054-2059.
Walter, J.A., 1998. PSOM Network: Learning with Few Examples. In Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98). no.3 IEEE, pp. 2054-2059.
J.A. Walter, “PSOM Network: Learning with Few Examples”, Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98), vol. 3, IEEE, 1998, pp.2054-2059.
Walter, J.A.: PSOM Network: Learning with Few Examples. Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98). 3, p. 2054-2059. IEEE (1998).
Walter, Jörg A. “PSOM Network: Learning with Few Examples”. Proceedings 1998 IEEE International Conference On Robotics And Automation (ICRA-98). IEEE, 1998.Vol. 3. 2054-2059.
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