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Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills

Title	Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills
Author	Ugur, E., Nagai, Y., Celikkanat, H., Öztop, Erhan
Publication Date:	2015-06
Publication Place	- Cambridge University Press
Subject	Developmental robotics, Affordance, Imitation, Parental scaffolding, Motionese
Type	Periodical
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	1469-8668
Record ID	c79cefc1-8fb6-48fb-9c10-01119e134a35
Library Location	Computer Science
Date	2015-06
Notes	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text	Parental scaffolding is an important mechanism that speeds up infant sensorimotor development. Infants pay stronger attention to the features of the objects highlighted by parents, and their manipulation skills develop earlier than they would in isolation due to caregivers' support. Parents are known to make modifications in infant-directed actions, which are often called “motionese”. The features that might be associated with motionese are amplification, repetition and simplification in caregivers' movements, which are often accompanied by increased social signalling. In this paper, we extend our previously developed affordances learning framework to enable our hand-arm robot equipped with a range camera to benefit from parental scaffolding and motionese. We first present our results on how parental scaffolding can be used to guide the robot learning and to modify its crude action execution to speed up the learning of complex skills. For this purpose, an interactive human caregiver-infant scenario was realized with our robotic setup. This setup allowed the caregiver's modification of the ongoing reach and grasp movement of the robot via physical interaction. This enabled the caregiver to make the robot grasp the target object, which in turn could be used by the robot to learn the grasping skill. In addition to this, we also show how parental scaffolding can be used in speeding up imitation learning. We present the details of our work that takes the robot beyond simple goal-level imitation, making it a better imitator with the help of motionese.
DOI	10.1017/S0263574714002148
Cilt	33

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Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills

Author Ugur, E., Nagai, Y., Celikkanat, H., Öztop, Erhan

Publication Date 2015-06

Publication Place - Cambridge University Press

Subject Developmental robotics, Affordance, Imitation, Parental scaffolding, Motionese

Type Periodical

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 1469-8668

Record ID c79cefc1-8fb6-48fb-9c10-01119e134a35

Library Location Computer Science

Date 2015-06

Notes Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Sample Text Parental scaffolding is an important mechanism that speeds up infant sensorimotor development. Infants pay stronger attention to the features of the objects highlighted by parents, and their manipulation skills develop earlier than they would in isolation due to caregivers' support. Parents are known to make modifications in infant-directed actions, which are often called “motionese”. The features that might be associated with motionese are amplification, repetition and simplification in caregivers' movements, which are often accompanied by increased social signalling. In this paper, we extend our previously developed affordances learning framework to enable our hand-arm robot equipped with a range camera to benefit from parental scaffolding and motionese. We first present our results on how parental scaffolding can be used to guide the robot learning and to modify its crude action execution to speed up the learning of complex skills. For this purpose, an interactive human caregiver-infant scenario was realized with our robotic setup. This setup allowed the caregiver's modification of the ongoing reach and grasp movement of the robot via physical interaction. This enabled the caregiver to make the robot grasp the target object, which in turn could be used by the robot to learn the grasping skill. In addition to this, we also show how parental scaffolding can be used in speeding up imitation learning. We present the details of our work that takes the robot beyond simple goal-level imitation, making it a better imitator with the help of motionese.

DOI 10.1017/S0263574714002148

Cilt 33