Hiroaki Gomi, Mitsuo Kawato
We present two neural network controller learning schemes based on feedback(cid:173) error-learning and modular architecture for recognition and control of multiple manipulated objects. In the first scheme, a Gating Network is trained to acquire object-specific representations for recognition of a number of objects (or sets of objects). In the second scheme, an Estimation Network is trained to acquire function-specific, rather than object-specific, representations which directly estimate physical parameters. Both recognition networks are trained to identify manipulated objects using somatic and/or visual information. After learning, appropriate motor commands for manipulation of each object are issued by the control networks.