@COMMENT This file was generated by bib2html.pl <https://sourceforge.net/projects/bib2html/> version 0.94
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@COMMENT This file came from Freek Stulp's publication pages at
@COMMENT http://www-clmc.usc.edu/~stulp/publications
@InProceedings{stulp12emergent,
  title                    = {Emergent Proximo-Distal Maturation through Adaptive Exploration},
  author                   = {Freek Stulp and Pierre-Yves Oudeyer},
  booktitle                = {International Conference on Development and Learning (ICDL)},
  year                     = {2012},
  note                     = {{\bf Paper of Excellence Award}},
  abstract                 = {Life-long robot learning in the high-dimensional real world requires guided and structured exploration mechanisms. In this developmental context, we investigate here the use of the recently proposed PI2-CMAES episodic reinforcement learning algorithm, which is able to learn high-dimensional motor tasks through adaptive control of exploration. By studying PI2-CMAES in a reaching task on a simulated arm, we observe two developmental properties. First, we show how PI2-CMAES autonomously and continuously tunes the global exploration/exploitation trade-off, allowing it to re-adapt to changing tasks. Second, we show how PI2-CMAES spontaneously self-organizes a maturational structure whilst exploring the degrees-of-freedom (DOFs) of the motor space. In particular, it automatically demonstrates the so-called \emph{proximo-distal maturation} observed in humans: after first freezing distal DOFs while exploring predominantly the most proximal DOF, it progressively frees exploration in DOFs along the proximo-distal body axis. These emergent properties suggest the use of PI2-CMAES as a general tool for studying reinforcement learning of skills in life-long developmental learning contexts.},
  bib2html_pubtype         = {Refereed Conference Paper,Awards},
  bib2html_rescat          = {Reinforcement Learning of Robot Skills}
}