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Emergence and categorization of coordinated visual behavior through embodied interaction

journal contribution
posted on 2023-06-07, 14:01 authored by Luc BerthouzeLuc Berthouze, Y. Kuniyoshi
This paper discusses the emergence of sensorimotor coordination for ESCHeR, a 4DOF redundant foveated rob ot-head, by interaction with its environment. A feedback-error-learning(FEL)-based distributed control provides the system with explorative abilities with reflexes constraining the learning space. A Kohonen network, trained at run-time, categorizes the sensorimotor patterns obtained over ESCHeR''s interaction with its environment, enables the reinforcement of frequently executed actions, thus stabilizing the learning activity over time. We explain how the development of ESCHeR''s visual abilities (namely gaze fixation and saccadic motion), from a context-free reflex-based control process to a context-dependent, pattern-based sensorimotor coordination can be related to the Piagetian "theory".

History

Publication status

  • Published

Journal

Machine Learning

ISSN

0885-6125

Issue

1-3

Volume

31

Page range

187-200

Department affiliated with

  • Informatics Publications

Notes

The original publication is available at www.springerlink.com

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2007-07-27

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