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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development [chapter]

Ralf Der, Georg Martius
2006 Lecture Notes in Computer Science  
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

Mehdi Réguigne-Khamassi, Benoît Girard, Aurélie Clodic, Sandra Devin, Erwan Renaudo, Elisabeth Pacherie, Rachid Alami, Raja Chatila
2016 Intellectica Revue de l Association pour la Recherche Cognitive  
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]

Luc Steels, Michael Spranger, Remi van Trijp, Sebastian Höfer, Manfred Hild
2012 Language Grounding in Robots  
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

Angelo Cangelosi, Giorgio Metta, Gerhard Sagerer, Stefano Nolfi, Chrystopher Nehaniv, Kerstin Fischer, Jun Tani, Tony Belpaeme, Giulio Sandini, Francesco Nori, Luciano Fadiga, Britta Wrede (+5 others)
2010 IEEE Transactions on Autonomous Mental Development  
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

Erhard Wieser, Gordon Cheng
2016 2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)  
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

Phuong D. H. Nguyen, Yasmin Kim Georgie, Ezgi Kayhan, Manfred Eppe, Verena Vanessa Hafner, Stefan Wermter
2021 Künstliche Intelligenz  
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

Max Lungarella, Giorgio Metta, Rolf Pfeifer, Giulio Sandini
2003 Connection science  
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

Mathias Schmerling, Guido Schillaci, Verena V. Hafner
2015 2015 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)  
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]

Phuong D.H. Nguyen, Yasmin Kim Georgie, Ezgi Kayhan, Manfred Eppe, Verena Vanessa Hafner, Stefan Wermter
2021 arXiv   pre-print
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]

Philipp Zech, Erwan Renaudo, Simon Haller, Xiang Zhang, Justus Piater
2018 arXiv   pre-print
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

Farhan Dawood, Chu Kiong Loo, Thomas Wennekers
2016 PLoS ONE  
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

Malte Schilling, Jan Paskarbeit, Helge Ritter, Axel Schneider, Holk Cruse
2021 IEEE Transactions on robotics  
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

Ralf Der, Georg Martius
2015 Proceedings of the National Academy of Sciences of the United States of America  
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

Severin Fichtl, John Alexander, Dirk Kraft, Jimmy Alison Jørgensen, Norbert Krüger, Frank Guerin
2012 Paladyn: Journal of Behavioral Robotics  
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

Vittorio Gallese, Corrado Sinigaglia
2014 Behavioral and Brain Sciences  
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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