pynao_exploration
A python implementation of sensorimotor exploration experiments on the Aldebaran Nao robot combining Explauto and NAOqi.
Scientific Background
Refer to our paper for background information: Schmerling M., Schillaci G. and Hafner V.V., Goal-Directed Learning of Hand-Eye Coordination on a Humanoid Robot in Proceedings of the IEEE 5th International Conference on Development and Learning and on Epigenetic Robotics, pp. 168-175 (2015)
Prerequisites
Usage
Have a look at ./tutorial/tutorial.ipynb for an introduction on how to use the implementation.
Qualitative Results
Have a look at the examplary videos in ./videos/. The results show how the different exploration types behave qualitatively. Goal-directed, curiosity-driven exploration of both head and arm kinematics concurrently was shown to be most effective. The interested reader is referred to our paper for quantative results.