Intrinsically Motivated Learning of Real World Sensorimotor Skills with Developmental Constraints

Abstract : Open-ended exploration and learning in the real world is a major challenge of developmental robotics. Three properties of real-world sensorimotor spaces provide important conceptual and technical chal- lenges: unlearnability, high-dimensionality and unboundedness. In this chapter, we argue that exploration in such spaces needs to be constrained and guided by several combined developmental mechanisms. While in- trinsic motivation, i.e. curiosity-driven learning, is a key mechanism to address this challenge, it has to be complemented and integrated with other developmental constraints, in particular: sensorimotor primitives and embodiment, task space representations, maturational processes (i.e. adaptive changes of the embodied sensorimotor apparatus), and social guidance. We illustrate and discuss the potential of such an integration of developmental mechanisms in several robot learning experiments.
Type de document :
Chapitre d'ouvrage
Baldassarre, Gianluca and Mirolli, Marco. Intrinsically Motivated Learning in Natural and Artificial Systems, Springer, 2013
Liste complète des métadonnées

Littérature citée [124 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00788611
Contributeur : Pierre-Yves Oudeyer <>
Soumis le : jeudi 14 février 2013 - 17:06:55
Dernière modification le : mercredi 29 novembre 2017 - 15:53:15
Document(s) archivé(s) le : mercredi 15 mai 2013 - 04:03:05

Fichier

OudeyerBaranesKaplan13.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00788611, version 1

Collections

Citation

Pierre-Yves Oudeyer, Adrien Baranes, Frédéric Kaplan. Intrinsically Motivated Learning of Real World Sensorimotor Skills with Developmental Constraints. Baldassarre, Gianluca and Mirolli, Marco. Intrinsically Motivated Learning in Natural and Artificial Systems, Springer, 2013. 〈hal-00788611〉

Partager

Métriques

Consultations de la notice

292

Téléchargements de fichiers

544