Challenging tasks in unstructured environments require robots to learn complex models. Given a large amount of information, learning multiple simple models can offer an efficient alternative to a monolithic complex network. Training multiple models-that is, learning their parameters and their responsibilities-has been shown to be prohibitively hard as optimization is prone to local minima. To efficiently learn multiple models for different contexts, we thus develop a new algorithm based on expectation maximization (EM). In contrast to comparable concepts, this algorithm trains multiple modules of paired forward-inverse models by using the prediction errors of both forward and inverse models simultaneously. In particular, we show that our method yields a substantial improvement over only considering the errors of the forward models on tasks where the inverse space contains multiple solutions.

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