Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction

Berthouze, Luc and Kuniyoshi, Yasuo (1998) Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction. [Journal (On-line/Unpaginated)]

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This paper discusses the emergence of sensorimotor coordination for ESCHeR, a 4DOF redundant foveated robot-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 'stage theory'.

Item Type:Journal (On-line/Unpaginated)
Keywords:Foveated active vision, oculomotor control, feedback-error-learning, emergent coordination, sensorimotor memory
Subjects:Computer Science > Artificial Intelligence
Computer Science > Machine Learning
Computer Science > Robotics
ID Code:1496
Deposited By: Berthouze, Dr Luc
Deposited On:10 May 2001
Last Modified:11 Mar 2011 08:54


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