First published 20 July 2015
Closed-loop acquisition of behaviour on the Sphero robot
Oswald Berthold and Verena V. Hafner
In this paper, we investigate the closed-loop acquisition of basic behaviours on Sphero–a real spherical robot. We impose the additional requirement of learning from scratch in a single episode. The behaviour is encoded as an inverse model for stabilization and sensory target tracking tasks using recurrent neural networks.