Balancing Exploration and Exploitation: A Neurally Inspired Mechanism to Learn Sensorimotor Contingencies

Tutkimustuotos: KonferenssiartikkeliScientificvertaisarvioitu

Abstrakti

The learning of sensorimotor contingencies is essential for the development of early cognition. Here, we investigate how such process takes place on a neural level. We propose a theoretical concept for learning sensorimotor contingencies based on motor babbling with a robotic arm and dynamic neural fields. The robot learns to perform sequences of motor commands in order to perceive visual activation from a baby mobile toy. First, the robot explores the different sensorimotor outcomes, then autonomously decides to utilize (or not) the experience already gathered. Moreover, we introduce a neural mechanism inspired by recent neuroscience research that supports the switch between exploration and exploitation. The complete model relies on dynamic field theory, which consists of a set of interconnected dynamical systems. In time, the robot demonstrates a behavior toward the exploitation of previously learned sensorimotor contingencies and thus selecting actions that induce high visual activation.

AlkuperäiskieliEnglanti
OtsikkoHuman-Friendly Robotics 2020
Alaotsikko13th International Workshop
ToimittajatMatteo Saveriano, Erwan Renaudo, Antonio Rodríguez-Sánchez, Justus Piater
KustantajaSpringer
Sivut59-73
Sivumäärä15
ISBN (elektroninen)978-3-030-71356-0
ISBN (painettu)978-3-030-71355-3, 978-3-030-71358-4
DOI - pysyväislinkit
TilaJulkaistu - 2021
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaInternational Workshop on Human-Friendly Robotics - Innsbruck, Itävalta
Kesto: 1 lokak. 20202 lokak. 2020

Julkaisusarja

NimiSpringer Proceedings in Advanced Robotics
Vuosikerta18
ISSN (painettu)2511-1256
ISSN (elektroninen)2511-1264

Conference

ConferenceInternational Workshop on Human-Friendly Robotics
Maa/AlueItävalta
KaupunkiInnsbruck
Ajanjakso1/10/202/10/20

Julkaisufoorumi-taso

  • Jufo-taso 1

!!ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Engineering (miscellaneous)
  • Artificial Intelligence
  • Computer Science Applications
  • Applied Mathematics

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