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检索条件"任意字段=2012 IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL 2012"

共 594 条记录，以下是21-30 订阅

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Online learning and Integration of Complex Action and Word Lexicons for Language Grounding

Online Learning and Integration of Complex Action and Word L...

引用

ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Niehaus, Logan Levinson, Stephen E. Univ Illinois Dept Elect & Comp Engn Urbana IL 61801 USA

ISBN: (纸本)9781467349635;9781467349642

This paper presents a computational framework for the development and integration of action and language capabilities through symbol grounding. Our approach is based around the fundamental technique of building lexicons of perceptual "simulators" which link noisy sensory experiences to internal symbolic representations. These sensory representations are paired with a basic model of association, allowing for the grounding of linguistic symbols directly in action knowledge - a grounding which is then exploited to bootstrap the development of more advanced capabilities. The performance of this computational framework is tested in the context of online tutoring scenarios using the iCub robotic platform. Such an experimental environment requires development of techniques and algorithms suited for incremental learning and real-time processing.

关键词： Electric grounding e-learning Dictionaries as Topic DNA Integration integration real-time process learning (artificial intelligence) basic model Language

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The Strategic Student Approach for Life-Long Exploration and learning

The Strategic Student Approach for Life-Long Exploration and...

引用

ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Lopes, Manuel Oudeyer, Pierre-Yves INRIA Bordeaux Sud Ouest France

ISBN: (纸本)9781467349635;9781467349642

This article introduces the strategic student metaphor: a student has to learn a number of topics (or tasks) to maximize its mean score, and has to choose strategically how to allocate its time among the topics and/or which learning method to use for a given topic. We show that under which conditions a strategy where time allocation or learning method is chosen from the easier to the more complex topic is optimal. Then, we show an algorithm, based on multi-armed bandit techniques, that allows empirical online evaluation of learning progress and approximates the optimal solution under more general conditions. Finally, we show that the strategic student problem formulation allows to view in a common framework many previous approaches to active and developmental learning.

关键词： learning methods Students Time allocation learning optimal solution Religious Missions Exploration Problem Formulation

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Curiosity-driven phonetic learning

Curiosity-driven phonetic learning

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Moulin-Frier, Clement Oudeyer, Pierre-Yves Ensta ParisTech INRIA Bordeaux Sud Ouest Paris France

ISBN: (纸本)9781467349635;9781467349642

This article studies how developmental phonetic learning can be guided by pure curiosity-driven exploration, also called intrinsically motivated exploration. Phonetic learning refers here to learning how to control a vocal tract to reach acoustic goals. We compare three different exploration strategies for learning the auditory-motor inverse model: random motor exploration, random goal selection with reaching, and curiosity-driven active goal selection with reaching. Using a realistic vocal tract model, we show how intrinsically motivated learning driven by competence progress can generate automatically developmental structure in both articulatory and auditory modalities, displaying patterns in line with some experimental data from infants.

关键词： phonetics Exploration Vocal tract Reach (of River) learning Curiosity exploration strategy

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A Sequential Multitask learning Algorithm for Pattern Recognition

A Sequential Multitask Learning Algorithm for Pattern Recogn...

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Takata, Tomoyasu Higuchi, Daisuke Ozawa, Seiichi Kobe Univ Grad Sch Engn Kobe Hyogo 6578501 Japan

ISBN: (纸本)9781467349635;9781467349642

In this work, we extend the sequential multitask learning model called Resource Allocating Network for Multi-Task Pattern Recognition (RAN-MTPR) by introducing the following new learning functions: multi-label recognition, semi-supervised task learning and active learning. The extended RAN-MTPR can learn a training data with multiple class labels, can handle a semi-supervised setting for task learning, and can actively request class labels for unsure inputs. We evaluate the performance of the extended RAN-MTPR, and we know that the above three functions work well to enhance the generalization performance for pattern recognition problems.

关键词： Pattern recognition PARALLEL PROCESSING (COMPUTERS) pattern recognition problem learning algorithms Sequential

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Effect of Physical Variation on the Reduced Dimensional Control of a Mass-Spring-Damper Chain System

Effect of Physical Variation on the Reduced Dimensional Cont...

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Kuppuswamy, Naveen Harris, Christopher M. Cangelosi, Angelo Univ Zurich Inst Informat AI Lab CH-8050 Zurich Switzerland Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England

ISBN: (纸本)9781467349635;9781467349642

In this work the relationship between growth and ontogenetic development of motor control is studied from the perspective of reduced dimensionality in control;such motor control strategies have been suggested as a possible mechanism circumventing the degree of freedom coordination problem. The relationship between reduced dimensional behaviour and parametric variation is empirically analysed in a simulated actuated mass-spring-damper system, as a loose analogy to physical growth process in vertebrate limbs. The resultant dimensionality change is analysed and ideal directions for growth, in terms of physical parameter variations, are discussed.

关键词： parameter variation control of movement DIMENSIONAL control strategy Motor Control Dyscoordination Physical development Perspective damping system

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Can Passive Arm Movement Affect Adaptation to Visuomotor Rotation?

Can Passive Arm Movement Affect Adaptation to Visuomotor Rot...

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Sakamoto, Takashi Kondo, Toshiyuki Tokyo Univ Agr & Technol Dept Comp & Informat Sci Grad Sch Engn Koganei Tokyo Japan

ISBN: (纸本)9781467349635;9781467349642

Through active motor experience, humans are capable of adapting to even unfamiliar environments. However, little is known about motor learning in the absence of active motor intention such as passive movements by rehabilitation robots. To clarify this question, we investigated whether passive arm movements by a robotic manipulandum affect the motor learning of arm-reaching tasks under unfamiliar visuomotor rotation. Experimental results suggest that passive motor experience has positive effect on acquisition of motor skills for the visuomotor rotation, even though it is significantly small compared with active motor learning. Furthermore, experimental result shows that the effect of passive motor experience can be maintained even after a day.

关键词： arm movement Motor development Passive Range of Motion Motor Motor Skills experience Even number

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Distinct Mechanisms for Multimodal Integration and Unimodal Representation in Spatial development

Distinct Mechanisms for Multimodal Integration and Unimodal ...

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Pitti, Alexandre Blanchard, Arnaud Cardinaux, Matthieu Gaussier, Philippe

ISBN: (纸本)9781467349635;9781467349642

In this paper, we attempt to reconciliate two views of spatial development based on two mechanisms of statistical learning and of sensory alignment. Conflicting results in developmental psychology attribute either a developmental period to spatial cognition (Piaget). Besides, these results conflict with other researches in which infants do demonstrate good coordination and coherence across modalities (Gibsonian), even from restricted pre-natal experiences [1], [2]. In order to study both views, we present at first a simple model based on conditional learning which integrates visual and auditory modalities although it has some limitation regarding the number of degrees of freedom. In second, we propose then to use a sensory alignment mechanism, which allows the system to learn invariances in the world. In experiments with a robot head, we show the advantages of each strategy. We then discuss about the future possibilities of merging both models and their implications.

关键词： robotics mutimodalities learning gain-field audio vision

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A usage-based model for the online induction of constructions from phoneme sequences

A usage-based model for the online induction of construction...

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Gaspers, Judith Cimiano, Philipp Univ Bielefeld Cognit Interact Technol Excellence Ctr Semant Comp Grp Bielefeld Germany

ISBN: (纸本)9781467349635;9781467349642

According to usage-based approaches to language acquisition, linguistic knowledge is represented in the form of constructions as pairings of meaning and form at multiple levels of abstraction and complexity. The emergence of syntactic knowledge in infants is assumed to be a result of the gradual abstraction of lexically specific and item-based knowledge. In this paper, we present a computational usage-based model accounting for the gradual emergence of a network consisting of constructions at varying degrees of complexity given ambiguous input examples of phoneme sequences coupled with a symbolic representation of the visual context. We provide empirical results on the RoboCup dataset, showing that the model can acquire a compact construction grammar which generalizes successfully to unseen data in an online fashion, with one pass over the data.

关键词： level of abstraction Language development syntax Phonemes Abstraction Epistemology

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What Good are Actions? Accelerating learning using Learned Action Priors

What Good are Actions? Accelerating Learning using Learned A...

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Rosman, Benjamin Ramamoorthy, Subramanian Univ Edinburgh Sch Informat Inst Percept Act & Behav Edinburgh EH8 9YL Midlothian Scotland

ISBN: (纸本)9781467349635;9781467349642

The computational complexity of learning in sequential decision problems grows exponentially with the number of actions available to the agent at each state. We present a method for accelerating this process by learning action priors that express the usefulness of each action in each state. These are learned from a set of different optimal policies from many tasks in the same state space, and are used to bias exploration away from less useful actions. This is shown to improve performance for tasks in the same domain but with different goals. We extend our method to base action priors on perceptual cues rather than absolute states, allowing the transfer of these priors between tasks with differing state spaces and transition functions, and demonstrate experimentally the advantages of learning with action priors in a reinforcement learning context.

关键词： state space Action complexity classes learning Religious Missions acceleration Decision problem

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Rapidly learning Preconditions for Means-Ends Behaviour Using Active learning

Rapidly Learning Preconditions for Means-Ends Behaviour Usin...

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ieee international conference on development and learning and epigenetic robotics (icdl)

作者： Fichtl, Severin Alexander, John Guerin, Frank Jorgensen, Jimmy Alison Kraft, Dirk Krueger, Norbert Univ Aberdeen Aberdeen AB24 3UE Scotland Maersk Mc Kinney Moller Inst DK5230 Odense Denmark

ISBN: (纸本)9781467349635;9781467349642

In [1], we argue that ongoing development may be the result of a set of developmental mechanisms which are in continuous operation during infancy. One such mechanism identified is sensorimotor differentiation. Sensorimotor differentiation allows infants to generate new behaviours by modifying old ones. For example a young infant has a behaviour for waving an object back and forth on a table surface. At some later point, this behaviour becomes differentiated to produce a behaviour for deliberately displacing an object to one side in order to retrieve a visible toy behind it (see Figure I).

关键词： Experiential learning continuous operation Infant Behavior Playthings differentiation Differentiation Individualized Instruction

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