@misc{cogprints4966,
          volume = {123},
          editor = {Luc Berthouze and Fr{\'e}d{\'e}ric Kaplan and Hideki Kozima and Hiroyuki Yano and J{\"u}rgen Konczak and Giorgio Metta and Jacqueline Nadel and Giulio Sandini and Georgi Stojanov and Christian Balkenius},
           title = {Ongoing Emergence:
A Core Concept in Epigenetic Robotics},
          author = {Christopher Prince and Nathan Helder and George Hollich},
       publisher = {Lund University Cognitive Studies},
            year = {2005},
           pages = {63--70},
        keywords = {epigenetic robotics, autonomous development, emergent behavior, ongoing emergence, skill acquisition},
             url = {http://cogprints.org/4966/},
        abstract = {We propose ongoing emergence as a core concept in
epigenetic robotics. Ongoing emergence refers to the
continuous development and integration of new skills
and is exhibited when six criteria are satisfied: (1)
continuous skill acquisition, (2) incorporation of new
skills with existing skills, (3) autonomous development
of values and goals, (4) bootstrapping of initial skills, (5)
stability of skills, and (6) reproducibility. In this paper
we: (a) provide a conceptual synthesis of ongoing
emergence based on previous theorizing, (b) review
current research in epigenetic robotics in light of ongoing
emergence, (c) provide prototypical examples of ongoing
emergence from infant development, and (d) outline
computational issues relevant to creating robots
exhibiting ongoing emergence.}
}

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