Skip to Main content Skip to Navigation
Conference papers

Maturationally-Constrained Competence-Based Intrinsically Motivated Learning

Adrien Baranes 1, * Pierre-Yves Oudeyer 1
* Corresponding author
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
Abstract : This paper studies the coupling of intrinsic motiva- tion and physiological maturational constraints, and argues that both mechanisms may have complex bidirectional interactions allowing to actively control the growth of complexity in motor development. First, we introduce the self-adaptive goal generation algorithm (SAGG), instantiating an intrinsically motivated goal exploration mechanism for motor learning of inverse models. Then, we introduce a functional model of maturational con- straints inspired by the myelination process in humans, and show how it can be coupled with the SAGG algorithm, forming a new system called McSAGG. We then present experiments to evaluate qualitative properties of these systems when applied to learning a reaching skill with an arm with initially unknown kinematics.
Document type :
Conference papers
Complete list of metadata

Cited literature [26 references]  Display  Hide  Download

https://hal.inria.fr/inria-00541770
Contributor : Pierre Rouanet <>
Submitted on : Wednesday, December 1, 2010 - 10:58:12 AM
Last modification on : Wednesday, July 3, 2019 - 10:48:04 AM
Long-term archiving on: : Wednesday, March 2, 2011 - 2:58:00 AM

File

BaranesOudeyerICDL10.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00541770, version 1

Collections

Citation

Adrien Baranes, Pierre-Yves Oudeyer. Maturationally-Constrained Competence-Based Intrinsically Motivated Learning. IEEE International Conference on Development and Learning (ICDL 2010), 2010, Ann Arbor, United States. ⟨inria-00541770⟩

Share

Metrics

Record views

371

Files downloads

366