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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development
[chapter]
2006
Lecture Notes in Computer Science
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The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. ...
Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. ...
Acknowledgement This study was supported by a grant from the german BMBF in the framework of the Bernstein Center for Computational Neuroscience Goettingen, grant number 01GQ0432. ...
doi:10.1007/11840541_34
fatcat:hvy347dnozgu5f3jpvckftny3a
Integration of Action, Joint Action and Learning in Robotics Cognitive Architectures
2016
Intellectica Revue de l Association pour la Recherche Cognitive
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In this case, re-planning from scratch each time the robot decides to perform a deliberative action makes it too slow to be efficient in a dynamic environment. ...
Although this is still lacking in most current cognitive architectures and is still a recent topic, it is one of the goals of the field of Developmental Robotics to have a robot explore its environment ...
doi:10.3406/intel.2016.1794
fatcat:milvqjgegzg2flfrjvp266mm34
Emergent Action Language on Real Robots
[chapter]
2012
Language Grounding in Robots
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This chapter describes evolutionary language game experiments exploring how these competences originate, can be carried out and acquired, by real robots, using evolutionary language games and a whole systems ...
Almost all languages in the world have a way to formulate commands. ...
Acknowledgements This research was conducted at the Sony Computer Science Laboratory in Paris and the Humboldt University neurorobotics group in Berlin. ...
doi:10.1007/978-1-4614-3064-3_13
fatcat:mpnogjolkvf47huoemi5ikdize
Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics
2010
IEEE Transactions on Autonomous Mental Development
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compositional lexicons; (iii) the dynamics of social interaction and learning; and (iv) how compositional action and language representations are integrated to bootstrap the cognitive system. ...
These milestones provide a possible set of cognitive robotics goals and test-scenarios, thus acting as a research roadmap for future work on cognitive developmental robotics. ...
In particular, we wish to thank the following people for comments and contributions to some of the sections in the paper: Davide Marocco, Francesco Nori, Vadim Tikhanoff, Alessandra Sciutti, Arjan Gijsberts ...
doi:10.1109/tamd.2010.2053034
fatcat:bqi276njyvcw5dkrd2bqv6hlwe
Progressive learning of sensory-motor maps through spatiotemporal predictors
2016
2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)
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In this paper, we propose a neurobiologically-inspired system to progressively learn a sensory-motor mapping bootstrapped from a simple constrained DOF exploration, which generates much less training data ...
Motor babbling and goal babbling are two common approaches to generate training samples used to acquire a sensory-motor mapping. ...
The developmental perspective offers a solution which enables the robot to learn this sensory-motor mapping by itself in a self-exploratory manner. ...
doi:10.1109/devlrn.2016.7846788
dblp:conf/icdl-epirob/WieserC16
fatcat:pqk5ns2fb5ge7dmetqff3y3vja
Sensorimotor Representation Learning for an "Active Self" in Robots: A Model Survey
2021
Künstliche Intelligenz
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Finally, we analyze what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing ...
AbstractSafe human-robot interactions require robots to be able to learn how to behave appropriately in spaces populated by people and thus to cope with the challenges posed by our dynamic and unstructured ...
YKG and VVH were funded by the DFG -"Prerequisites for the Development of an Artificial Self" (402790442). ...
doi:10.1007/s13218-021-00703-z
fatcat:rs5pdqct2ra7ljg2gl77nipime
Developmental robotics: a survey
2003
Connection science
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systems by exploiting insights gained from studies on ontogenetic development. ...
The methodology advocated is synthetic and two-pronged: on the one hand, it employs robots to instantiate models originating from developmental sciences; on the other hand, it aims to develop better robotic ...
Rolf Pfeifer has greatly benefited from the project Explorations in Embodied Cognition , and by discussions with Gabriel Gomez and David Andel, who are sponsored by this project. Thanks ...
doi:10.1080/09540090310001655110
fatcat:u657nlgehzbtlazek5pcfydxf4
Goal-directed learning of hand-eye coordination in a humanoid robot
2015
2015 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)
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In this paper, we investigate how a recent concept in developmental robotics, referred to as goal babbling, relates to a visuo-motor coordination task in the humanoid robot Aldebaran Nao that requires ...
The idea of goal babbling builds on findings in developmental psychology showing that human infants attempt goal-directed movements early on in their development enabling them to rapidly and efficiently ...
ACKNOWLEDGMENT The research leading to these results has been partially funded from the European Union's Seventh Framework Programme (FP7/2007-2013) under grant agreement n. 609465, related to the EARS ...
doi:10.1109/devlrn.2015.7346136
dblp:conf/icdl-epirob/SchmerlingSH15
fatcat:ej6j55is2rcsxicnjgsn3mqrlm
Sensorimotor representation learning for an "active self" in robots: A model survey
[article]
2021
arXiv
pre-print
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Finally, we analyse what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing ...
Safe human-robot interactions require robots to be able to learn how to behave appropriately in humans' world spaces populated by people and thus to cope with the challenges posed by our dynamic and unstructured ...
Specifically, to focus on developing models that incorporate a whole developmental path in a real robot that would include e.g. self exploration and self-touch, where behavioural indices can be measured ...
arXiv:2011.12860v2
fatcat:mnxhuzkr7zdsdojmnuizmfoome
Action Representations in Robotics: A Taxonomy and Systematic Classification
[article]
2018
arXiv
pre-print
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Subsequently we discuss the role of action in robotics and attempt to give a seminal definition of action in accordance with its use in robotics research. ...
Unfortunately, to this day we still lack both a clear understanding of the concept of an action and a set of established criteria that ultimately characterize an action. ...
Acknowledgments The research leading to these results has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no. 731761, IMAGINE. ...
arXiv:1809.04317v1
fatcat:lr27hdjjurh2bj6q5ly23mocte
View-Invariant Visuomotor Processing in Computational Mirror Neuron System for Humanoid
2016
PLoS ONE
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In our experiment, a humanoid robot stands in front of a mirror (represented through self-image using camera) in order to obtain the associative relationship between his own motor generated actions and ...
In this paper we present a computational model for development of mirror neuron system for humanoid based on the hypothesis that infants acquire MNS by sensorimotor associative learning through self-exploration ...
[43] and develop an imitation system that enables a robot to autonomously learn primitive concepts through self-exploration using body babbling with no a priori knowledge of its motor system or the ...
doi:10.1371/journal.pone.0152003
pmid:26998923
pmcid:PMC4801384
fatcat:szyjqcuy5ndixb5suxqtovyqki
From Adaptive Locomotion to Predictive Action Selection – Cognitive Control for a Six-Legged Walker
2021
IEEE Transactions on robotics
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Work in insects suggests that this evolved flexibility results from a modular architecture, which can be characterized by a recurrent neural network allowing for various emerging attractor states. ...
Implementation of such a control system on a walking hexapod robot was able to deal with various walking patterns including disturbances such as uneven terrain or loss of a leg. ...
Furthermore, exploration of possible actions is inherently dangerous in locomotion tasks as selection of random movements during exploration might break the real system. In a recent approach, Ha et al ...
doi:10.1109/tro.2021.3106832
fatcat:6v3sqwkuu5huxgv7rhp7y7eiiy
Novel plasticity rule can explain the development of sensorimotor intelligence
2015
Proceedings of the National Academy of Sciences of the United States of America
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We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. ...
Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, the self-organized behavioral development provides more questions than answers. ...
We gratefully acknowledge the hospitality and discussions in the group of Nihat Ay. We thank Michael Herrmann, Anna Levina, Sacha Sokoloski, and Sophie Fessl for helpful comments. G. ...
doi:10.1073/pnas.1508400112
pmid:26504200
pmcid:PMC4653169
fatcat:4pgq2sweonhavhnc7c74viqo2e
Learning Object Relationships which determine the Outcome of Actions
2012
Paladyn: Journal of Behavioral Robotics
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We are interested in the mechanisms underlying this development in order to achieve similar development in artificial systems. ...
The mechanism for learning sensory abstractions for a new behaviour is a component in the larger enterprise of building systems which emulate the mechanisms of infant development. ...
We also like to thank Lauriane Rat-Fischer for useful references. ...
doi:10.2478/s13230-013-0104-x
fatcat:2nuhdrsj7ff2bobek2cvggoghq
Understanding action with the motor system
2014
Behavioral and Brain Sciences
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This article argues that mirror neurons originate in sensorimotor associative learning and therefore a new approach is needed to investigate their functions. ...
do not necessarily have a specific evolutionary purpose or adaptive function. ...
Like the target article, this approach sees even human interaction as emergent from domain-general processes acting in concertviewing human interaction as a self-organizing system. ...
doi:10.1017/s0140525x13002288
pmid:24775156
fatcat:whuc6zfo25benjwnutpdodwici
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