Learning tactile skills through curious exploration.

We present curiosity-driven, autonomous acquisition of tactile exploratory skills on a biomimetic robot finger equipped with an array of microelectromechanical touch sensors. Instead of building tailored algorithms for solving a specific tactile task, we employ a more general curiosity-driven reinforcement learning approach that autonomously learns a set of motor skills in absence of an explicit teacher signal. In this approach, the acquisition of skills is driven by the information content of the sensory input signals relative to a learner that aims at representing sensory inputs using fewer and fewer computational resources. We show that, from initially random exploration of its environment, the robotic system autonomously develops a small set of basic motor skills that lead to different kinds of tactile input. Next, the system learns how to exploit the learned motor skills to solve supervised texture classification tasks. Our approach demonstrates the feasibility of autonomous acquisition of tactile skills on physical robotic platforms through curiosity-driven reinforcement learning, overcomes typical difficulties of engineered solutions for active tactile exploration and underactuated control, and provides a basis for studying developmental learning through intrinsic motivation in robots.

Recurrent neural network modeling of nearshore sandbar behavior.

The temporal evolution of nearshore sandbars (alongshore ridges of sand fringing coasts in water depths less than 10 m and of paramount importance for coastal safety) is commonly predicted using process-based models. These models are autoregressive and require offshore wave characteristics as input, properties that find their neural network equivalent in the NARX (Nonlinear AutoRegressive model with eXogenous input) architecture. Earlier literature results suggest that the evolution of sandbars depends nonlinearly on the wave forcing and that the sandbar position at a specific moment contains 'memory', that is, time-series of sandbar positions show dependencies spanning several days. Using observations of an outer sandbar collected daily for over seven years at the double-barred Surfers Paradise, Gold Coast, Australia several data-driven models are compared. Nonlinear and linear models as well as recurrent and nonrecurrent parameter estimation methods are applied to investigate the claims about nonlinear and long-term dependencies. We find a small performance increase for long-term predictions (>40 days) with nonlinear models, indicating that nonlinear effects expose themselves for larger prediction horizons, and no significant difference between nonrecurrent and recurrent methods meaning that the effects of dependencies spanning several days are of no importance.