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Authors: Luis Eduardo Rodriguez Soto and Cheng-Yuan Liou

Affiliation: National Taiwan University, Taiwan

Keyword(s): Self-Organizing Maps, Q-learning, Hierarchical Control.

Related Ontology Subjects/Areas/Topics: Hybrid Learning Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Neural Networks Based Control Systems

Abstract: In the present paper we propose a motor control model inspired by organizational priciples of the cerebral cortex. Specifically the model is based on cortical maps and functional hierarchy in sensory and motor areas of the brain. Self-Organizing Maps (SOM) have proven to be useful in modeling cortical topological maps (Palakal et al., 1995). A hierarchical SOM provides a natural way to extract hierarchical information from the environment, which we propose may in turn be used to select actions hierarchically. We use a neighborhood update version of the Q-learning algorithm, so the final model maps a continuous input space to a continuous action space in a hierarchical, topology preserving manner. The model is called the Hierarchical Map Forming model (HMF) due to the way in which it forms maps in both the input and output spaces in a hierarchical manner.

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Paper citation in several formats:
Eduardo Rodriguez Soto, L. and Liou, C. (2006). THE HIERARCHICAL MAP FORMING MODEL. In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-59-7; ISSN 2184-2809, SciTePress, pages 167-172. DOI: 10.5220/0001221801670172

@conference{icinco06,
author={Luis {Eduardo Rodriguez Soto}. and Cheng{-}Yuan Liou.},
title={THE HIERARCHICAL MAP FORMING MODEL},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2006},
pages={167-172},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001221801670172},
isbn={978-972-8865-59-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - THE HIERARCHICAL MAP FORMING MODEL
SN - 978-972-8865-59-7
IS - 2184-2809
AU - Eduardo Rodriguez Soto, L.
AU - Liou, C.
PY - 2006
SP - 167
EP - 172
DO - 10.5220/0001221801670172
PB - SciTePress

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