We have proposed self-organizing network elements (SONE) as a learning method for robots to meet the requirements of autonomous exploration of effective output, simple external parameters, and low calculation costs. SONE can be used as an algorithm for obtaining network topology by propagating reinforcement signals between the elements of a network. Traditionally, the analysis of fundamental features in SONE and their application to supervised learning tasks were difficult because the learning

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... ethod of SONE was limited to reinforcement learning. Here the abilities of generalization, incremental learning, and temporal sequence learning were evaluated using a supervised learning method with SONE. Moreover, the proposed method enabled our SONE to be applied to a greater variety of tasks.