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Paladyn Journal of Behavioral Robotics

English

Infants extend their repertoire of behaviours from initially simple behaviours with single objects to complex behaviours dealing with spatial relationships among objects. We are interested in the mechanisms underlying this development in order to achieve similar development in artificial systems. One mechanism is sensorimotor differentiation, which allows one behaviour to become altered in order to achieve a different result; the old behaviour is not forgotten, so differentiation increases the number of available behaviours. Differentiation requires the learning of both sensory abstractions and motor programs for the new behaviour; here we focus only on the sensory aspect: learning to recognise situations in which the new behaviour succeeds. We experimented with learning these situations in a realistic physical simulation of a robotic manipulator interacting with various objects, where the sensor space includes the robot arm position data and a Kinect-based vision system. 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

Fichtl, Severin

Alexander, John

Kraft, Dirk

Rytz, Jimmy Alison

Krüger, Norbert

Guerin, Frank

Syddansk Universitets Forskerportal

Learning Object Relationships which determine the Outcome of Actions

Jorgensen, Jimmy Alison

Kruger, Norbert

Aberdeen University Research

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Learning object relationships which determine the outcome of actions

AbstractInfants extend their repertoire of behaviours from initially simple behaviours with single objects to complex behaviours dealing with spatial relationships among objects. We are interested in the mechanisms underlying this development in order to achieve similar development in artificial systems. One mechanism is sensorimotor differentiation, which allows one behaviour to become altered in order to achieve a different result; the old behaviour is not forgotten, so differentiation increases the number of available behaviours. Differentiation requires the learning of both sensory abstractions and motor programs for the new behaviour; here we focus only on the sensory aspect: learning to recognise situations in which the new behaviour succeeds. We experimented with learning these situations in a realistic physical simulation of a robotic manipulator interacting with various objects, where the sensor space includes the robot arm position data and a Kinect-based vision system. 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.</jats:p

Severin Fichtl

John Alexander

Dirk Kraft

Jimmy Alison Jørgensen

Norbert Krüger

Frank Guerin

Crossref

Fichtl Severin

Alexander John

Kraft Dirk

Jørgensen Jimmy Alison

Krüger Norbert

Guerin Frank

Directory of Open Access Journals

https://findresearcher.sdu.dk/ws/files/118768245/Paladyn.pdf

Learning object relationships which determine the outcome of actions

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Syddansk Universitets Forskerportal

Aberdeen University Research

Syddansk Universitets Forskerportal

Crossref

Syddansk Universitets Forskerportal

Directory of Open Access Journals