{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,7]],"date-time":"2026-10-07T00:26:51Z","timestamp":1791332811062,"version":"4.3.1"},"reference-count":0,"publisher":"Walter de Gruyter GmbH","issue":"3","license":[{"start":{"date-parts":[[2012,9,1]],"date-time":"2012-09-01T00:00:00Z","timestamp":1346457600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,9,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>The \u201cPolicy Improvement with Path Integrals\u201d (PI<jats:sup>2<\/jats:sup>) [25] and \u201cCovariance Matrix Adaptation - Evolutionary Strategy\u201d [8] are considered to be state-of-the-art in direct reinforcement learning and stochastic optimization respectively. We have recently shown that incorporating covariance matrix adaptation into PI<jats:sup>2<\/jats:sup> \u2013 which yields the PI<jats:sub>CMA<\/jats:sub>\n                  <jats:sup>2<\/jats:sup> algorithm \u2013 enables adaptive exploration by continually and autonomously reconsidering the exploration\/exploitation trade-off. In this article, we provide an overview of our recent work on covariance matrix adaptation for direct reinforcement learning [22\u201324], highlight its relevance to developmental robotics, and conduct further experiments to analyze the results. We investigate two complementary phenomena from developmental robotics. First, we demonstrate PI<jats:sub>CMA<\/jats:sub>\n                  <jats:sup>2<\/jats:sup>\u2019s ability to adapt to slowly or abruptly changing tasks due to its continual and adaptive exploration. This is an important component of life-long skill learning in dynamic environments. Second, we show on a reaching task PI<jats:sub>CMA<\/jats:sub>\n                  <jats:sup>2<\/jats:sup> how subsequently releases degrees of freedom from proximal to more distal limbs as learning progresses. A similar effect is observed in human development, where it is known as \u2018proximodistal maturation\u2019.<\/jats:p>","DOI":"10.2478\/s13230-013-0108-6","type":"journal-article","created":{"date-parts":[[2013,4,19]],"date-time":"2013-04-19T17:47:19Z","timestamp":1366393639000},"page":"128-135","source":"Crossref","is-referenced-by-count":8,"title":["Adaptive Exploration through Covariance Matrix Adaptation Enables Developmental Motor Learning"],"prefix":"10.2478","volume":"3","author":[{"given":"Freek","family":"Stulp","sequence":"first","affiliation":[{"name":"Robotics and Computer Vision, ENSTA-ParisTech, Paris, France"},{"name":"FLOWERS Team, INRIA Bordeaux Sud-Ouest, Talence, France"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pierre-Yves","family":"Oudeyer","sequence":"additional","affiliation":[{"name":"Robotics and Computer Vision, ENSTA-ParisTech, Paris, France"},{"name":"FLOWERS Team, INRIA Bordeaux Sud-Ouest, Talence, France"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"374","published-online":{"date-parts":[[2013,5,10]]},"container-title":["Paladyn, Journal of Behavioral Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.2478\/s13230-013-0108-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.2478\/s13230-013-0108-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.2478\/s13230-013-0108-6\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.2478\/s13230-013-0108-6\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T12:23:04Z","timestamp":1651062184000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.2478\/s13230-013-0108-6\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,9,1]]},"references-count":0,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2013,5,10]]},"published-print":{"date-parts":[[2012,9,1]]}},"alternative-id":["10.2478\/s13230-013-0108-6"],"URL":"https:\/\/doi.org\/10.2478\/s13230-013-0108-6","relation":{},"ISSN":["2081-4836"],"issn-type":[{"value":"2081-4836","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,9,1]]}}}