Abstract-We use goal babbling to bootstrap a parametric model of speech production for a complex 3D vocal tract model. The system learns to control the articulators for producing five different vowel sounds. Ambient speech influences learning on two levels: it organizes the learning process because it is used to generate a space of goals in which exploration takes place. A distribution learned from ambient speech provides the system with targets during exploration.Previous research with this vocal tract model showed that visual information have to be included for acquiring the vowel [u] via reward-based optimization. We model the learning process instead with goal-directed exploration where all targets are learned in parallel. As some vowels require more exploratory noise in the articulators than others, we propose a mechanism to adapt the noise amplitude depending on the system's competence in different regions of the goal space. We demonstrate that this self-aware learning leads to more stable results. The implemented system succeeds in acquiring vocalization skills for rounded as well as unrounded vowels using only a single modality.