TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Exploration and exploitation of sensorimotor contingencies for a cognitive embodied agent

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Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoICAART 2020 - Proceedings of the 12th International Conference on Agents and Artificial Intelligence
ToimittajatAna Rocha, Luc Steels, Jaap van den Herik
KustantajaSCITEPRESS
Sivut546-554
Sivumäärä9
Vuosikerta2
ISBN (elektroninen)9789897583957
DOI - pysyväislinkit
TilaJulkaistu - 2020
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaINTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE -
Kesto: 1 tammikuuta 1900 → …

Conference

ConferenceINTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE
Ajanjakso1/01/00 → …

Tiivistelmä

The modelling of cognition is playing a major role in robotics. Indeed, robots need to learn, adapt and plan their actions in order to interact with their environment. To do so, approaches like embodiment and enactivism propose to ground sensorimotor experience in the robot's body to shape the development of cognition. In this work, we focus on the role of memory during learning in a closed loop. As sensorimotor contingencies, we consider a robot arm that moves a baby mobile toy to get visual reward. First, the robot explores the continuous sensorimotor space by associating visual stimuli to motor actions through motor babbling. After exploration, the robot uses the experience from its memory and exploits it, thus optimizing its motion to perceive more visual stimuli. The proposed approach uses Dynamic Field Theory and is integrated in the GummiArm, a 3D printed humanoid robot arm. The results indicate a higher visual neural activation after motion learning and show the benefits of an embodied babbling strategy.

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