Recognition of Manipulated Objects by Motor Learning

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