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developmental robotics, optimal artificial curiosity, creativity, music, and the fine arts

CONNECTION SCIENCE 2006年第2期18卷 173-187页

作者： Schmidhuber, Juergen Tech Univ Munich D-85748 Munich Germany IDSIA CH-6928 Lugano Switzerland

Even in the absence of external reward, babies and scientists and others explore their world. Using some sort of adaptive predictive world model, they improve their ability to answer questions such as what happens if I do this or that? They lose interest in both the predictable things and those predicted to remain unpredictable despite some effort. One can design curious robots that do the same. The author's basic idea (1990, 1991) for doing so is a reinforcement learning (RL) controller is rewarded for action sequences that improve the predictor. Here, this idea is revisited in the context of recent results on optimal predictors and optimal RL machines. Several new variants of the basic principle are proposed. Finally, it is pointed out how the fine arts can be formally understood as a consequence of the principle: given some subjective observer, great works of art and music yield observation histories exhibiting more novel, previously unknown compressibility/regularity/predictability (with respect to the observer's particular learning algorithm) than lesser works, thus deepening the observer's understanding of the world and what is possible in it.

关键词： developmental robotics world models artificial curiosity exploration artificial creativity music fine arts

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Morphogenetic robotics: An Emerging New Field in developmental robotics

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS 2011年第2期41卷 145-160页

作者： Jin, Yaochu Meng, Yan Univ Surrey Dept Comp Surrey GU2 7XH England Stevens Inst Technol Dept Elect & Comp Engn Hoboken NJ 07030 USA

developmental robotics is also known as epigenetic robotics. We propose in this paper that there is one substantial difference between developmental robotics and epigenetic robotics, since epigenetic robotics concentrates primarily on modeling the development of cognitive elements of living systems in robotic systems, such as language, emotion, and social skills, while developmental robotics should also cover the modeling of neural and morphological development in single-and multirobot systems. With the recent rapid advances in evolutionary developmental biology and systems biology, increasing genetic and cellular principles underlying biological morphogenesis have been revealed. These principles are helpful not only in understanding biological development, but also in designing self-organizing, self-reconfigurable, and self-repairable engineered systems. In this paper, we propose morphogenetic robotics, an emerging new field in developmental robotics, is an important part of developmental robotics in addition to epigenetic robotics. By morphogenetic robotics, we mean a class of methodologies in robotics for designing self-organizing, self-reconfigurable, and self-repairable single-or multirobot systems, using genetic and cellular mechanisms governing biological morphogenesis. We categorize these methodologies into three areas, namely, morphogenetic swarm robotic systems, morphogenetic modular robots, and morphogenetic body and brain design for robots. Examples are provided for each of the three areas to illustrate the main ideas underlying the morphogenetic approaches to robotics.

关键词： developmental robotics epigenetic robotics evolutionary developmental robotics morphogenesis morphogenetic robotics

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Integration of Active Vision and Reaching From a developmental robotics Perspective

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IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 2010年第4期2卷 355-367页

作者： Huelse, Martin McBride, Sebastian Law, James Lee, Mark Aberystwyth Univ Dept Comp Sci Aberystwyth SY23 3DB Dyfed Wales

Inspired by child development and brain research, we introduce a computational framework which integrates robotic active vision and reaching. Essential elements of this framework are sensorimotor mappings that link three different computational domains relating to visual data, gaze control, and reaching. The domain of gaze control is the central computational substrate that provides, first, a systematic visual search and, second, the transformation of visual data into coordinates for potential reach actions. In this respect, the representation of object locations emerges from the combination of sensorimotor mappings. The framework is tested in the form of two different architectures that perform visually guided reaching. Systematic experiments demonstrate how visual search influences reaching accuracy. The results of these experiments are discussed with respect to providing a reference architecture for developmental learning in humanoid robot systems.

关键词： Biologically inspired robot architectures developmental robotics robotic active vision and reaching

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Evolutionary developmental robotics: Improving Morphology and Control of Physical Robots

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ARTIFICIAL LIFE 2017年第2期23卷 169-185页

作者： Vujovic, Vuk Rosendo, Andre Brodbeck, Luzius Iida, Fumiya ETH Inst Robot & Intelligent Syst Zurich Switzerland Univ Cambridge Dept Engn Trumpington St Cambridge CB2 1PZ England

Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

关键词： Evolutionary robotics developmental robotics evo-devo genetic algorithms ontogeny phylogenetic

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Affordance Research in developmental robotics: A Survey

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IEEE TRANSACTIONS ON COGNITIVE AND developmental SYSTEMS 2016年第4期8卷 237-255页

作者： Min, Huaqing Yi, Chang'an Luo, Ronghua Zhu, Jinhui Bi, Sheng South China Univ Technol Sch Software Engn Guangzhou 510006 Guangdong Peoples R China Foshan Univ Sch Elect & Informat Engn Foshan 528000 Peoples R China South China Univ Technol Sch Comp Sci & Engn Guangzhou 510006 Guangdong Peoples R China

Affordances capture the relationships between a robot and the environment in terms of the actions that the robot is able to perform. The notable characteristic of affordance-based perception is that an object is perceived by what it affords (e.g., graspable and rollable), instead of identities (e.g., name, color, and shape). Affordances play an important role in basic robot capabilities such as recognition, planning, and prediction. The key challenges in affordance research are: 1) how to automatically discover the distinctive features that specify an affordance in an online and incremental manner and 2) how to generalize these features to novel environments. This survey provides an entry point for interested researchers, including: 1) a general overview;2) classification and critical analysis of existing work;3) discussion of how affordances are useful in developmental robotics;4) some open questions about how to use the affordance concept;and 5) a few promising research directions.

关键词： Affordance autonomous mental development (AMD) developmental robotics embodied intelligence (EI) infant learning intrinsic motivation

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Could knowledge-based neural learning be useful in developmental robotics? The case of KBCC

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INTERNATIONAL JOURNAL OF HUMANOID robotics 2007年第2期4卷 245-279页

作者： Shultz, Thomas R. Rivest, Francois Egri, Laszlo Thivierge, Jean-Philippe Dandurand, Frederic McGill Univ Dept Psychol Montreal PQ H3A 1B1 Canada McGill Univ Sch Comp Sci Montreal PQ H3A 2B4 Canada Univ Montreal Dept Informat & Rech Operat Montreal PQ H3C 3J7 Canada Univ Montreal Dept Physiol Montreal PQ H3C 1J4 Canada

The new field of developmental robotics faces the formidable challenge of implementing effective learning mechanisms in complex, dynamic environments. We make a case that knowledge-based learning algorithms might help to meet this challenge. A constructive neural learning algorithm, knowledge-based cascade-correlation (KBCC), autonomously recruits previously-learned networks in addition to the single hidden units recruited by ordinary cascade-correlation. This enables learning by analogy when adequate prior knowledge is available, learning by induction from examples when there is no relevant prior knowledge, and various combinations of analogy and induction. A review of experiments with KBCC indicates that recruitment of relevant existing knowledge typically speeds learning and sometimes enables learning of otherwise impossible problems. Some additional domains of interest to developmental robotics are identified in which knowledge-based learning seems essential. The characteristics of KBCC in relation to other knowledge-based neural learners and analogical reasoning are summarized as is the neurological basis for learning from knowledge. Current limitations of this approach and directions for future work are discussed.

关键词： knowledge-based learning neural networks knowledge transfer developmental robotics

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Epi: An open humanoid platform for developmental robotics

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2020年第2期17卷

作者： Johansson, Birger Tjostheim, Trond A. Balkenius, Christian Lund Univ Cognit Sci Box 192 S-22100 Lund Sweden

Epi is a humanoid robot developed by Lund University Cognitive Science robotics Group. It was designed to be used in experiments in developmental robotics and has proportions to give a childlike impression while still being decidedly robotic. The robot head has two degrees of freedom in the neck and each eye can independently move laterally. There is a camera in each eye to make stereovision possible. The arms are designed to resemble those of a human. Each arm has five degrees of freedom, three in the shoulder, one in the elbow and one in the wrist. The hands have four movable fingers and a stationary thumb. A force distribution mechanism inside the hand connect a single servo to the movable fingers and makes sure the hand closes around an object regardless of its shape. The rigid parts of the hands are 3D printed in PLA and HIPS while the flexible parts, including the joints and the tendons, are made from polyurethane rubber. The control system for Epi is based on neurophysiological data and is implemented using the Ikaros system. Most of the sensory and motor processing is done at 40 Hz to allow smooth movements. The irises of the eyes can change colour and the pupils can dilate and contract. There is also a grid of LEDs that resembles a mouth that can be animated by changing colour and intensity.

关键词： developmental robotics open-source

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Some Basic Principles of developmental robotics

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IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT 2009年第2期1卷 122-130页

作者： Stoytchev, Alexander Iowa State Univ Dept Elect & Comp Engn Dev Robot Lab Ames IA 50011 USA

This paper formulates five basic principles of developmental robotics. These principles are formulated based on some of the recurring themes in the developmental learning literature and in the author's own research. The five principles follow logically from the verification principle (postulated by Richard Sutton) which is assumed to be self-evident. This paper also gives an example of how these principles can be applied to the problem of autonomous tool use in robots.

关键词： Artificial intelligence developmental robotics intelligent robots learning systems principles psychology robots robot programming

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Staged competence learning in developmental robotics

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ADAPTIVE BEHAVIOR 2007年第3期15卷 241-255页

作者： Lee, Mark H. Meng, Qinggang Chao, Fei Univ Wales Dept Comp Sci Aberystwyth SY23 3DB Dyfed Wales Loughborough Univ Technol Dept Comp Sci Loughborough LE11 3TU Leics England

developmental psychology has long recognized the presence of stages in human cognitive development, although the underlying causes and processes are still an open question and subject to much debate. This article draws inspiration from psychology and describes an approach towards developmental growth for robotics that utilizes natural constraints in a general learning mechanism. The method, summarized as Lift-Constraint, Act, Saturate (LCAS), is applicable to all levels of control and behavior, and can be implemented in any robotic configuration. An implementation based on sensorymotor learning in early infancy is described and the results from experiments are presented and discussed.

关键词： developmental robotics sensory-motor control constraint-based learning

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Rethinking Piaget for a developmental robotics of object permanence

Rethinking Piaget for a developmental robotics of object per...

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6th IEEE International Conference on Development Learning

作者： Luo, Jun Univ Toronto Cognit Sci Program Toronto ON M5S 3H7 Canada

ISBN: (纸本)9781424411153

Piaget's account of object permanence development is rethought in light of both its historical roots in Poincari's theory of space and current understanding of mechanisms. This rethinldng reveals the developmental constraints reflected in Piaget's stages of object permanence, charts the essential interdependence of spatial capacity, memory capacity, embodied movement, and object cognition, exonerates the A-not-B phenomenon from its appearance of an oddity, and provides programmatic guidance for a future robotics of object permanence development.

关键词： Piaget object permanence A-not-B spatial working memory dynamic remapping developmental robotics

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