A hierarchical multi-module learning system based on self-interpretation of instructions by coach

We propose a hierarchical multi-module leaning system based on self-interpretation of instructions by coach. The proposed method enables a robot to decompose (i) a long term task which needs various kinds of information into a sequence of short term subtasks which need much less information through its self-interpretation process for the instructions given by coach, (ii) to select sensory information needed to each subtask, and (iii) to integrate the learned behaviours to accomplish the given long term task. We show a preliminary result of a simple soccer situation in the context of RoboCup.