Intrinsic Motivation Systems for Autonomous Mental Development

Exploratory activities seem to be intrinsically rewarding for children and crucial for their cognitive development. Can a machine be endowed with such an intrinsic motivation system? This is the question we study in this paper, presenting a number of computational systems that try to capture this drive towards novel or curious situations. After discussing related research coming from developmental psychology, neuroscience, developmental robotics, and active learning, this paper presents the mechanism of Intelligent Adaptive Curiosity, an intrinsic motivation system which pushes a robot towards situations in which it maximizes its learning progress. This drive makes the robot focus on situations which are neither too predictable nor too unpredictable, thus permitting autonomous mental development.The complexity of the robot’s activities autonomously increases and complex developmental sequences self-organize without being constructed in a supervised manner. Two experiments are presented illustrating the stage-like organization emerging with this mechanism. In one of them, a physical robot is placed on a baby play mat with objects that it can learn to manipulate. Experimental results show that the robot first spends time in situations which are easy to learn, then shifts its attention progressively to situations of increasing difficulty, avoiding situations in which nothing can be learned. Finally, these various results are discussed in relation to more complex forms of behavioral organization and data coming from developmental psychology. Key words: Active learning, autonomy, behavior, complexity, curiosity, development, developmental trajectory, epigenetic robotics, intrinsic motivation, learning, reinforcement learning, values

Embodied Artificial Intelligence through Distributed Adaptive Control: An Integrated Framework

In this paper, we argue that the future of Artificial Intelligence research resides in two keywords: integration and embodiment. We support this claim by analyzing the recent advances of the field. Regarding integration, we note that the most impactful recent contributions have been made possible through the integration of recent Machine Learning methods (based in particular on Deep Learning and Recurrent Neural Networks) with more traditional ones (e.g. Monte-Carlo tree search, goal babbling exploration or addressable memory systems). Regarding embodiment, we note that the traditional benchmark tasks (e.g. visual classification or board games) are becoming obsolete as state-of-the-art learning algorithms approach or even surpass human performance in most of them, having recently encouraged the development of first-person 3D game platforms embedding realistic physics. Building upon this analysis, we first propose an embodied cognitive architecture integrating heterogenous sub-fields of Artificial Intelligence into a unified framework. We demonstrate the utility of our approach by showing how major contributions of the field can be expressed within the proposed framework. We then claim that benchmarking environments need to reproduce ecologically-valid conditions for bootstrapping the acquisition of increasingly complex cognitive skills through the concept of a cognitive arms race between embodied agents.Comment: Updated version of the paper accepted to the ICDL-Epirob 2017 conference (Lisbon, Portugal

Unsupervised Emergence of Egocentric Spatial Structure from Sensorimotor Prediction

Despite its omnipresence in robotics application, the nature of spatial knowledgeand the mechanisms that underlie its emergence in autonomous agents are stillpoorly understood. Recent theoretical works suggest that the Euclidean structure ofspace induces invariants in an agent’s raw sensorimotor experience. We hypothesizethat capturing these invariants is beneficial for sensorimotor prediction and that,under certain exploratory conditions, a motor representation capturing the structureof the external space should emerge as a byproduct of learning to predict futuresensory experiences. We propose a simple sensorimotor predictive scheme, applyit to different agents and types of exploration, and evaluate the pertinence of thesehypotheses. We show that a naive agent can capture the topology and metricregularity of its sensor’s position in an egocentric spatial frame without any a prioriknowledge, nor extraneous supervision

Enactivism and Robotic Language Acquisition: A Report from the Frontier

In this article, I assess an existing language acquisition architecture, which was deployed in linguistically unconstrained human–robot interaction, together with experimental design decisions with regard to their enactivist credentials. Despite initial scepticism with respect to enactivism’s applicability to the social domain, the introduction of the notion of participatory sense-making in the more recent enactive literature extends the framework’s reach to encompass this domain. With some exceptions, both our architecture and form of experimentation appear to be largely compatible with enactivist tenets. I analyse the architecture and design decisions along the five enactivist core themes of autonomy, embodiment, emergence, sense-making, and experience, and discuss the role of affect due to its central role within our acquisition experiments. In conclusion, I join some enactivists in demanding that interaction is taken seriously as an irreducible and independent subject of scientific investigation, and go further by hypothesising its potential value to machine learning.Peer reviewedFinal Published versio