---
abstract: "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'."
altloc:
- http://www.etl.go.jp/~berthouz/papers/1998/MLAR98.ps.gz
chapter: ~
commentary: ~
commref: ~
confdates: ~
conference: ~
confloc: ~
contact_email: ~
creators_id: []
creators_name:
- family: Berthouze
given: Luc
honourific: ''
lineage: ''
- family: Kuniyoshi
given: Yasuo
honourific: ''
lineage: ''
date: 1998-05
date_type: published
datestamp: 2001-05-10
department: ~
dir: disk0/00/00/14/96
edit_lock_since: ~
edit_lock_until: ~
edit_lock_user: ~
editors_id: []
editors_name:
- family: Hexmoor
given: Henry
honourific: ''
lineage: ''
- family: Mataric
given: Maja J.
honourific: ''
lineage: ''
eprint_status: archive
eprintid: 1496
fileinfo: /style/images/fileicons/application_pdf.png;/1496/3/mlar.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
item_issues_reported_by: []
item_issues_resolved_by: []
item_issues_status: []
item_issues_timestamp: []
item_issues_type: []
keywords: 'Foveated active vision, oculomotor control, feedback-error-learning, emergent coordination, sensorimotor memory'
lastmod: 2011-03-11 08:54:38
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: 1/2/3
pagerange: ~
pubdom: FALSE
publication: Machine Learning
publisher: Kuwer Academic
refereed: TRUE
referencetext: ~
relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 16:38:17
subjects:
- comp-sci-art-intel
- comp-sci-mach-learn
- comp-sci-robot
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction
type: journale
userid: 1463
volume: 31