A curious emergence of reaching

Goren Gordon, Ehud Ahissar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In order to perform a reaching movement towards a moving target, an autonomously learning robot must first learn several transformations, such as motion detection, coordinate transformation between the camera and the arm and the inverse model of the arm. A curious reaching robot learns them better by performing the appropriate actions so as to expedite and improve their learning speed and accuracy. We implement a model of hierarchical curiosity loops in an autonomous active learning robot, whereby each loop converges to the optimal action that maximizes the robot's learning of the appropriate transformation. It results in the emergence of unique behaviors that ultimately lead to the capability of reaching.

Original languageEnglish
Title of host publicationAdvances in Autonomous Robotics - Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
Pages1-12
Number of pages12
DOIs
StatePublished - 2012
Externally publishedYes
EventJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress - Bristol, United Kingdom
Duration: 20 Aug 201223 Aug 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7429 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceJoint of the 13th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2012 and the 15th Annual FIRA RoboWorld Congress
Country/TerritoryUnited Kingdom
CityBristol
Period20/08/1223/08/12

Keywords

  • Curiosity
  • autonomous learning
  • emergent behavior

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