der.bib
@article{hesse:sens_based_learning,
author = {Frank Hesse and Georg Martius and Ralf Der and J. Michael Herrmann},
title = {A Sensor-Based Learning Algorithm for the Self-Organization of Robot Behavior},
year = {2009},
url = {http://www.mdpi.com/1999-4893/2/1/398},
abstract = {Ideally, sensory information forms the only source of information to a robot. We consider an algorithm for the self-organization of a controller. At short time scales the controller is merely reactive but the parameter dynamics and the acquisition of knowledge by an internal model lead to seemingly purposeful behavior on longer time scales. As a paradigmatic example, we study the simulation of an underactuated snake-like robot. By interacting with the real physical system formed by the robotic hardware and the environment, the controller achieves a sensitive and body-specific actuation of the robot.},
journal = {Algorithms},
volume = {2},
number = {1},
pages = {398-409}
}
@inproceedings{hesse:reflexfromselforg07,
editor = {Luc Berthouze and Christopher G. Prince and Michael Littman and Hideki Kozima and Christian Balkenius },
author = {Frank Hesse and Ralf Der and J. Michael Herrmann},
title = {Reflexes from Self-Organizing Control in Autonomous Robots},
booktitle = {7th International Conference on Epigenetic Robotics: Modelling
Cognitive Development in Robotic Systems, Rutgers University, Piscataway, NJ, USA},
publisher = {Lund University},
series = {Cognitive Studies},
volume = {134},
year = 2007,
pages = {37-44},
isbn = {91-974741-8-5},
pdf = {http://robot.informatik.uni-leipzig.de/research/publications/2007/reflexfromselforg.pdf},
abstract = {Homeokinetic learning provides a route to
the self-organization of elementary behaviors
in autonomous robots by establishing
low-level sensomotoric loops. Strength and
duration of the internal parameter changes
which are caused by the homeokinetic adaptation
provide a natural evaluation of external
states, which can be used to incorporate information
from additional sensory inputs and
to extend the function of the low-level behavior
to more general situations. We illustrate
the approach by two examples, a mobile
robot and a human-like hand which are
driven by the same low-level scheme, but use
the second-order information in different ways
to achieve either risk avoidance and unconstrained
movement or constrained movement.
While the low-level adaptation follows a set of
rigid learning rules, the second-order learning
exerts a modulatory effect to the elementary
behaviors and to the distribution of their inputs.}
}
@inproceedings{martius:guidedselforg07,
editor = {Almeida e Costa and Francesco },
author = {Georg Martius and J. Michael Herrmann and Ralf Der},
title = {Guided Self-organisation for Autonomous Robot Development},
booktitle = {Advances in Artificial Life
9th European Conference, ECAL 2007, Lisbon, Portugal},
publisher = {Springer},
series = {Lecture Notes in Computer Science},
volume = {4648},
year = 2007,
pages = {766-775},
isbn = {978-3-540-74912-7},
pdf = {http://robot.informatik.uni-leipzig.de/research/publications/2007/guidedselforg.pdf},
pdf = {http://robot.informatik.uni-leipzig.de/research/publications/2007/guidedselforg_color.pdf},
abstract = {The paper presents a method to guide the self-organised development of behaviours
of autonomous robots.
In earlier publications we demonstrated how to use the homeokinesis principle
and dynamical systems theory to obtain self-organised playful but goal-free behaviour.
Now we extend this framework by reinforcement signals.
We validate the mechanisms with two experiment with a spherical robot.
The first experiment aims at fast motion, where the robot reaches on average
about twice the speed of a not reinforcement robot.
In the second experiment spinning motion is rewarded and we demonstrate
that the robot successfully develops
pirouettes and curved motion which
only rarely occur among the natural behaviours of the robot.}
}
@inproceedings{dermartius:babble06,
editor = {Stefano Nolfi and
Gianluca Baldassarre and
Raffaele Calabretta and
John C. T. Hallam and
Davide Marocco and
Jean-Arcady Meyer and
Orazio Miglino and
Domenico Parisi},
author = {Ralf Der and Georg Martius},
title = {From Motor Babbling to Purposive Actions:
Emerging Self-exploration in a Dynamical Systems Approach
to Early Robot Development},
booktitle = {From Animals to Animats 9, 9th International Conference
on Simulation of Adaptive Behavior, SAB 2006, Rome, Italy,
September 25-29, 2006, Proceedings},
publisher = {Springer},
series = {Lecture Notes in Computer Science},
volume = {4095},
year = 2006,
pages = {406-421},
isbn = {3-540-38608-4},
pdf = {http://robot.informatik.uni-leipzig.de/research/publications/2006/babble2purpos06.pdf},
abstract = {Self-organization and the phenomenon of emergence play an
essential role in living systems and form a challenge to artificial life systems.
This is not only because systems become more lifelike, but also since self-organization
may help in reducing the design efforts in creating complex behavior systems.
The present paper studies self-exploration based on a general approach to the
self-organization of behavior, which has been developed and tested in various
examples in recent years. This is a step towards autonomous early robot development.
We consider agents under the close sensorimotor coupling paradigm with a certain
cognitive ability realized by an internal forward model.
Starting from tabula rasa initial conditions we overcome the bootstrapping problem and
show emerging self-exploration.
Apart from that, we analyze the effect of limited actions,
which lead to deprivation of the world model.
We show that our paradigm explicitly avoids this
by producing purposive actions in a natural way.
Examples are given using a simulated simple wheeled robot and a
spherical robot driven by shifting internal masses.}
}
@article{der01,
author = {Ralf Der},
year = 2001,
title = {Self-Organized Acquisition of Situated Behavior},
journal = {Theory Biosci.},
volume = 120,
pages = {179-187}
}
@article{der02,
author = {Ralf Der},
year = 2004,
title = {The Homeokinetic Neuron in the Sensorimotor Loop},
journal = {Neural computation},
note = {to be submitted},
pdf = {http://www.informatik.uni-leipzig.de/~der/Veroeff/leakint.pdf}
}
@article{der05,
author = {Ralf Der},
year = 2005,
title = {Homeokinesis and the Moderation of Complexity in Neural
Systems},
journal = {Neural Computation, to be submitted},
pdf = {http://www.informatik.uni-leipzig.de/~der/Veroeff/leaky.pdf}
}
@article{der85a,
author = {Ralf Der},
year = 1985,
title = {Retarded and Instantaneous Evolution Equations for
Macroobsevables in Nonequilibrium Statistical Mechanics},
journal = {Physica},
volume = {132A},
pages = {74-93}
}
@article{der87i,
author = {Ralf Der},
year = 1987,
title = {The Time Local View of Nonequilibrium Statistical
Mechanics {I}},
journal = {J. Stat. Phys.},
volume = 46,
pages = {349-390}
}
@article{der87ii,
author = {Ralf Der},
year = 1987,
title = {The Time Local View of Nonequilibrium Statistical
Mechanics {II}},
journal = {J. Stat. Phys.},
volume = 46,
pages = {391-425}
}
@article{der89a,
author = {Ralf Der},
year = 1989,
title = {Systems under Colored Noise},
journal = {Physica A},
volume = 154,
pages = {421 - 451}
}
@article{der90l,
author = {Ralf Der},
year = 1990,
title = {The Langevin Method in the Dynamics of Learning},
journal = {J. Phys. A: Math. Gen.},
number = 23,
pages = {L763-6}
}
@misc{der98hk,
author = {Ralf Der},
year = 1999,
title = {Self-Organized Robot Behavior from the Principle of
Homeokinesis.},
ps = {http://www.informatik.uni-leipzig.de/~der/Veroeff/derpantz1.ps}
}
@article{dercolorednoise89,
author = {Ralf Der},
year = 1989,
title = {Systems under Colored Noise},
journal = {Physica A},
volume = 154,
pages = {421-451}
}
@inproceedings{derfeeling05,
author = {Ralf Der and Frank Hesse and Georg Martius},
year = 2005,
title = {Learning to Feel the Physics of a Body},
booktitle = {CIMCA '05: Proceedings of the International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce Vol-2 (CIMCA-IAWTIC'06)},
isbn = {0-7695-2504-0-02},
pages = {252--257},
publisher = {IEEE Computer Society},
address = {Washington, DC, USA},
pdf = {http://robot.informatik.uni-leipzig.de/research/publications/2005/feelphysics.pdf},
abstract = {Despite the tremendous progress in robotic hardware and in
both sensorial and computing efficiencies the performance
of contemporary autonomous robots is still far below that
of simple animals. This has triggered an intensive search
for alternative approaches to the control of robots. The
present paper exemplifies a general approach to the
self-organization of behavior which has been developed and
tested in various examples in recent years. We apply this
approach to an underactuated snake like artifact with a
complex physical behavior which is not known to the
controller. Due to the weak forces available, the
controller so to say has to develop a kind of feeling for
the body which is seen to emerge from our approach in a
natural way with meandering and rotational collective modes
being observed in computer simulation experiments.},
isbn = {0-7695-2504-0}
}
@inproceedings{derherr95rl,
author = {Ralf Der and Michael Herrmann},
year = 1995,
title = {Efficient {Q}-Learning by division of labour.},
booktitle = {Proc. International Conference on Artificial Neural
Networks - ICANN95},
pages = {129 - 134},
ps = {http://www.informatik.uni-leipzig.de/~der/Veroeff/div.labour.ps.gz}
}
@inproceedings{derherrholicki04,
author = {Michael Herrmann and Michael Hoicki and Ralf Der},
editor = {S. Schaal},
year = 2004,
title = {On Ashby's Homeostat: A Formal Model of Adaptive
Regulation},
booktitle = {From Animals to Animats},
pages = {324 - 333},
publisher = {MIT Press},
pdf = {http://www.informatik.uni-leipzig.de/~der/Veroeff/homeostat_final.pdf}
}
@incollection{derherrlieb02,
author = {Ralf Der and Michael Herrmann and Rene Liebscher},
editor = {R. Dillman and R. D. Schraft and H. W"orn},
year = 2002,
title = {Homeokinetic approach to autonomous learning in mobile
robots},
booktitle = {Robotik 2002},
series = {VDI-Berichte},
number = 1679,
pages = {301--306}
}
@inproceedings{derherrmann96rl,
author = {Ralf Der and Michael Herrmann},
year = 1996,
title = {Self-adjusting reinforcement learning},
booktitle = {{N}onlinear {T}heory and {A}pplications - {NOLTA} 96},
pages = {441 - 444},
ps = {http://www.informatik.uni-leipzig.de/~der/Veroeff/nolta96.ps.gz}
}
@article{derherrhol02,
author = {Ralf Der and Michael Herrmann and M. Holicki},
month = 1,
year = 2002,
title = {Self-organization in sensor-motor loops by the
homeokinetic principle},
journal = {Verhandlungen der Deutschen Physikalischen Gesellschaft},
pages = 510
}
@inproceedings{derhesselieb04,
author = {Ralf Der and Frank Hesse and Rene Liebscher},
year = {2004},
title = {Self-Organized Exploration and Automatic Sensor
Integration from the Homeokinetic Principle.},
booktitle = {Proc. 3rd Workshop on Self-Organization of AdaptiVE Behavior (SOAVE'04)},
pages = {220-230},
publisher = {VDI-Verlag},
series = {Fortschritt-Berichte VDI, Reihe 10, Nr. 743},
pdf = {http://www.informatik.uni-leipzig.de/~der/Veroeff/IlmenauFinal.pdf},
isbn = {3-18-374310-8}
}
@article{derhessemartius05,
author = {Der, Ralf and Hesse, Frank and Martius, Georg},
year = 2006,
title = {Rocking Stamper and Jumping Snake from a Dynamical System
Approach to Artificial Life},
journal = {Adaptive Behavior},
volume = 14,
number = {2},
pages = {105-115},
doi = {10.1177/105971230601400202},
pdf = {http://robot.informatik.uni-leipzig.de/research/publications/2005/rockstump.pdf},
keywords = {autonomous robots, self-organization, homeostasis, homeokinesis, dynamical systems, learning}
}
@inproceedings{derlieb02,
author = {Ralf Der and Rene Liebscher},
year = 2002,
title = {True autonomy from self-organized adaptivity},
booktitle = {Proc. Workshop Biologically Inspired Robotics},
pdf = {http://www.informatik.uni-leipzig.de/~der/Veroeff/bristol.pdf},
address = {Bristol}
}
@techreport{derlummer97,
author = {Ralf Der and O. Lummer and T. List},
year = 1997,
title = {Incremental nonlinear dynamic data reconciliation.},
number = {3/98},
institution = {{I}nstitut f{\"u}r {I}nformatik, {U}niversit{\"a}t
{L}eipzig},
ps = {http://www.informatik.uni-leipzig.de/~der/Veroeff/wacker7.ps}
}
@misc{dermaze03a,
author = {Ralf Der},
year = 2003,
title = {Basic Homeokinetic Control},
howpublished = {\url{http://www.informatik.uni-leipzig.de/~der/Forschung/maze1.wmv}}
}
@misc{dermaze03b,
author = {Ralf Der},
year = 2003,
title = {Basic Homeokinetic Control {II}},
howpublished = {\url{http://www.informatik.uni-leipzig.de/~der/Forschung/maze2.wmv}}
}
@misc{dermaze03c,
author = {Ralf Der},
year = 2003,
title = {Basic Homeokinetic Control {III}},
howpublished = {\url{http://www.informatik.uni-leipzig.de/~der/Forschung/maze3.wmv}}
}
@misc{dermaze03d,
author = {Ralf Der},
year = 2003,
title = {Basic Homeokinetic Control {IV}},
howpublished = {\url{http://www.informatik.uni-leipzig.de/~der/Forschung/maze4.wmv}}
}
@misc{dermpi04,
author = {Ralf Der},
month = {October},
year = 2004,
title = {Between Homeostasis and Autopoiesis - Theory and Practice
of Self-Referential Machines},
howpublished = {Talk given at the Max-Planck Institut for Mathematics in
the Sciences}
}
@article{derself-referential05,
author = {Der, Ralf and Hesse, Frank and Liebscher, Ren{\'e}},
year = 2005,
title = {Contingent Robot Behavior Generated by Self-Referential
Dynamical Systems},
journal = {Autonomous robots},
note = {submitted},
pdf = {http://www.informatik.uni-leipzig.de/~der/Veroeff/autorob.pdf}
}
@inproceedings{derspherical06,
author = {Ralf Der and Georg Martius and Frank Hesse},
month = {August},
year = 2006,
title = {Let It Roll -- Emerging Sensorimotor Coordination in a
Spherical Robot},
editor = {L. M. Rocha and L. S. Yaeger and M. A. Bedau and D. Floreano and R. L. Goldstone and A. Vespignani},
booktitle = {Artificial Life X : Proceedings of the Tenth International Conference on the Simulation and Synthesis of Living Systems},
pages = {192--198},
publisher = {International Society for Artificial Life, MIT Press},
pdf = {http://robot.informatik.uni-leipzig.de/research/publications/2006/letitroll_alifex06.pdf},
abstract = {Self-organization and the phenomenen of emergence play an
essential role in living systems and form a challenge to
artificial life systems. This is not only because systems
become more life like but also since self-organization may
help in reducing the design efforts in creating complex
behavior systems. The present paper exemplifies a general
approach to the self-organization of behavior which has
been developed and tested in various examples in recent
years. We apply this approach to a spherical robot driven
by shifting internal masses. The complex physics of this
robotic object is completely unknown to the controller.
Nevertheless after a short time the robot develops
systematic rolling movements covering large distances with
high velocity. In a hilly landscape it is capable of
manoeuvering out of the basins and in landscapes with a
fixed rotational geometry the robot more or less adatps its
movements to this geometry -- the controller so to say
develops a kind of feeling for its environment although
there are no sensors for measuring the positions or the
velocity of the robot. We argue that this behavior is a
result of the spontaneous symmetry breaking effects which
are responsible for the emergence of behavior in our
approach.}
}
@inproceedings{dersteinpas99,
author = {Ralf Der and U. Steinmetz and Frank Pasemann},
year = 1999,
title = {Homeokinesis - A new principle to back up evolution with
learning},
booktitle = {Computational Intelligence for Modelling, Control, and
Automation},
series = {Concurrent Systems Engineering Series},
volume = 55,
pages = {43-47},
publisher = {IOS Press},
address = {Amsterdam},
ps = {http://www.informatik.uni-leipzig.de/~der/Veroeff/wienfin3.ps}
}
@article{dertimelocal87a,
author = {Ralf Der},
year = 1987,
title = {The Time Local View of Nonequilibrium Statistical
Mechanics {I}},
journal = {J. Stat. Phys.},
volume = 46,
pages = {349-390}
}
@article{dertimelocal87b,
author = {Ralf Der},
year = 1987,
title = {The Time Local View of Nonequilibrium Statistical
Mechanics {II}},
journal = {J. Stat. Phys.},
volume = 46,
pages = {391-425}
}
@misc{dervideos03,
author = {Ralf Der},
year = 2005,
title = {Videos of Self-Organised Robot Behavior},
howpublished = {\url{http://robot.informatik.uni-leipzig.de/Videos}}
}
@misc{dervideoscluttered1,
author = {Ralf Der},
year = 2004,
title = {Video of Robot in Cluttered Environment},
howpublished = {\url{http://robot.informatik.uni-leipzig.de/Videos/Pioneer/2004/maze2.wmv}}
}
@misc{dervideoscluttered2,
author = {Ralf Der},
year = 2004,
title = {Video of Robot in Cluttered Environment},
howpublished = {\url{http://robot.informatik.uni-leipzig.de/Videos/Pioneer/2004/maze4.wmv}}
}