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PDF 1.63 MB
Pages 472–478
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.