A Developmental Organization for Robot Behavior

Grupen, Roderic A. (2003) A Developmental Organization for Robot Behavior. [Conference Paper]

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This paper focuses on exploring how learning and development can be structured in synthetic (robot) systems. We present a developmental assembler for constructing reusable and temporally extended actions in a sequence. The discussion adopts the traditions of dynamic pattern theory in which behavior is an artifact of coupled dynamical systems with a number of controllable degrees of freedom. In our model, the events that delineate control decisions are derived from the pattern of (dis)equilibria on a working subset of sensorimotor policies. We show how this architecture can be used to accomplish sequential knowledge gathering and representation tasks and provide examples of the kind of developmental milestones that this approach has already produced in our lab.

Item Type:Conference Paper
Keywords:developmental assembler, sequential knowledge gathering, physical schemata, robot behavioral representation
Subjects:Computer Science > Machine Learning
Computer Science > Artificial Intelligence
Computer Science > Robotics
ID Code:3366
Deposited By: Prince, Dr Christopher G.
Deposited On:12 Feb 2004
Last Modified:11 Mar 2011 08:55


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