Staged development of robot skills: behavior formation, affordance learning and imitation

Name: Staged development of robot skills: behavior formation, affordance learning and imitation
Author: Ugur, E., Nagai, Y., Sahin, E., Öztop, Erhan

İsim	Staged development of robot skills: behavior formation, affordance learning and imitation
Yazar	Ugur, E., Nagai, Y., Sahin, E., Öztop, Erhan
Basım Tarihi:	2015-06
Basım Yeri	- IEEE
Konu	Affordance, Developmental robotics, Goal emulation, Imitation, Motionese, Sensorimotor learning
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	1943-0604
Kayıt Numarası	c5152bbb-fa8b-4a2b-935b-aea89956f527
Lokasyon	Computer Science
Tarih	2015-06
Notlar	European Community ; JSPS/MEXT ; Ministry of Internal Affairs and Communications, Japan.
Örnek Metin	Inspired by infant development, we propose a three staged developmental framework for an anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic reach-and- enclose-on-contact movement capability, and discovers a set of behavior primitives by exploring its movement parameter space. In the next stage, the robot exercises the discovered behaviors on different objects, and learns the caused effects; effectively building a library of affordances and associated predictors. Finally, in the third stage, the learned structures and predictors are used to bootstrap complex imitation and action learning with the help of a cooperative tutor. The main contribution of this paper is the realization of an integrated developmental system where the structures emerging from the sensorimotor experience of an interacting real robot are used as the sole building blocks of the subsequent stages that generate increasingly more complex cognitive capabilities. The proposed framework includes a number of common features with infant sensorimotor development. Furthermore, the findings obtained from the self-exploration and motionese guided human-robot interaction experiments allow us to reason about the underlying mechanisms of simple-to-complex sensorimotor skill progression in human infants.
DOI	10.1109/TAMD.2015.2426192
Cilt	7

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Staged development of robot skills: behavior formation, affordance learning and imitation

Yazar Ugur, E., Nagai, Y., Sahin, E., Öztop, Erhan

Basım Tarihi 2015-06

Basım Yeri - IEEE

Konu Affordance, Developmental robotics, Goal emulation, Imitation, Motionese, Sensorimotor learning

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 1943-0604

Kayıt Numarası c5152bbb-fa8b-4a2b-935b-aea89956f527

Lokasyon Computer Science

Tarih 2015-06

Notlar European Community ; JSPS/MEXT ; Ministry of Internal Affairs and Communications, Japan.

Örnek Metin Inspired by infant development, we propose a three staged developmental framework for an anthropomorphic robot manipulator. In the first stage, the robot is initialized with a basic reach-and- enclose-on-contact movement capability, and discovers a set of behavior primitives by exploring its movement parameter space. In the next stage, the robot exercises the discovered behaviors on different objects, and learns the caused effects; effectively building a library of affordances and associated predictors. Finally, in the third stage, the learned structures and predictors are used to bootstrap complex imitation and action learning with the help of a cooperative tutor. The main contribution of this paper is the realization of an integrated developmental system where the structures emerging from the sensorimotor experience of an interacting real robot are used as the sole building blocks of the subsequent stages that generate increasingly more complex cognitive capabilities. The proposed framework includes a number of common features with infant sensorimotor development. Furthermore, the findings obtained from the self-exploration and motionese guided human-robot interaction experiments allow us to reason about the underlying mechanisms of simple-to-complex sensorimotor skill progression in human infants.

DOI 10.1109/TAMD.2015.2426192

Cilt 7