Emergence of Functional Hierarchy in a Multiple Timescale Neural Network Model: A Humanoid Robot Experiment
Figure 7
Example of behavior sequence for novel combinations of motor primitives.
Proprioception, vision, and fast and slow context activation values of the teaching signal, as well as actual values in physical environment, are shown for two novel behaviors at position 3. The first behavior (left column) consists of moving the object up and down three times, then moving the object left and right three times, and finally returning to the home position. The second behavior (right column) consists of moving the object backward and forward three times and then touching the object with one hand, and finally returning to the home position. Correspondences for line types in each graph are same as in Figure 4. UD: up-down, LR: left-right, BF: backward-forward and Touch: touch with single hand. Reach: reach for the object, Home: return to the home position.