An evaluation of environmental constraints for biologically constrained development of gaze control on an iCub robot

Shaw, Patricia; Law, James; Lee, Mark Howard

doi:10.2478/s13230-013-0103-y

Cited by 7 publications

(9 citation statements)

References 24 publications

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“…In this paper, we examine the role that exposure to sensory stimuli may have on the cognitive development of an autonomous robot. Unlike related studies such as (Shaw et al, 2012;Ugur et al, 2015), which explicitly model the developmental process, the model used in our experiments was not designed following a particular sensorimotor developmental theory, but based on a plausible epigenetic 1 mechanism (Lones and Cañamero, 2013;Lones et al, 2014). However, similar to the work of Cangelosi et al (2015) and Ugur et al (2015), our model leads to the emergence of an open-ended learning process achieved by allowing a robot to be able to identify and learn about interesting phenomena, a common goal of developmental models (Marshall et al, 2004).…”

Section: Introductionmentioning

confidence: 86%

From Sensorimotor Experiences to Cognitive Development: Investigating the Influence of Experiential Diversity on the Development of an Epigenetic Robot

2016

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Using an epigenetic model, in this paper we investigate the importance of sensorimotor experiences and environmental conditions in the emergence of more advanced cognitive abilities in an autonomous robot. We let the robot develop in three environments affording very different (physical and social) sensorimotor experiences: a "normal," standard environment, with reasonable opportunities for stimulation, a "novel" environment that offers many novel experiences, and a "sensory deprived" environment where the robot has very limited chances to interact. We then (a) assess how these different experiences influence and change the robot's ongoing development and behavior; (b) compare the said development to the different sensorimotor stages that infants go through; and (c) finally, after each "baby" robot has had time to develop in its environment, we recreate and assess its cognitive abilities using different well-known tests used in developmental psychology such as the violation of expectation (VOE) paradigm. Although our model was not explicitly designed following Piaget's or any other developmental theory, we observed, and discuss in the paper, that relevant sensorimotor experiences, or the lack of, result in the robot going through unforeseen developmental "stages" bearing some similarities to infant development, and could be interpreted in terms of Piaget's theory.

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Section: Introductionmentioning

confidence: 86%

From Sensorimotor Experiences to Cognitive Development: Investigating the Influence of Experiential Diversity on the Development of an Epigenetic Robot

2016

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“…In connected work we have investigated how the timing of constraint release impacts on learning of gaze control [39], [77]. Those results show a trade off between timing of constraint release and the rate of learning.…”

Section: Memorymentioning

confidence: 95%

“…This could be a physical constraint, such as the lack of sufficient torque in the neck, or an emergent constraint, such as the prerequisite for accurate eye saccades as a basis for learning head movements [77]. Fig.…”

Section: A Gaze Controlmentioning

confidence: 99%

From Saccades to Grasping: A Model of Coordinated Reaching Through Simulated Development on a Humanoid Robot

Law

Shaw

Lee

et al. 2014

IEEE Trans. Auton. Mental Dev.

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Law, J. A., Shaw, P. H., Lee, M. H., Sheldon, M. T. (2014). From Saccades to Grasping: A Model of Coordinated Reaching Through Simulated Development on a Humanoid Robot. IEEE Transactions on Autonomous Mental Development, 6 (2), 93-109Infants demonstrate remarkable talents in learning to control their sensory and motor systems. In particular the ability to reach to objects using visual feedback requires overcoming several issues related to coordination, spatial transformations, redundancy, and complex learning spaces. This paper describes a model of longitudinal development that covers the full sequence from blind motor babbling to successful grasping of seen objects. This includes the learning of saccade control, gaze control, torso control, and visually elicited reaching and grasping in 3D space. The paper builds on and extends our prior investigations into the development of gaze control, eye-hand coordination, the use of constraints to shape learning, and a schema memory system for the learning of sensorimotor experience. New contributions include our application of the LWPR algorithm to learn how movements of the torso affect the robot?s representation of space, and the first use of the schema framework to enable grasping and interaction with objects. The results from our integration of these various components into an implementation of longitudinal development on an iCub robot show their ability to generate infant-like development, from a start point with zero coordination up to skilled spatial reaching in less than 3 hours.authorsversionPeer reviewe

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“…The visual system, inspired by our previous work [34], produces an initial processing on the images received from the image capture system. This retina-like visual system is widely used in many developmental robotic models [17], [45], [46].…”

Section: The Methodsmentioning

confidence: 99%

Enhanced Robotic Hand–Eye Coordination Inspired From Human-Like Behavioral Patterns

Chao

Zhu

Lin

et al. 2018

IEEE Trans. Cogn. Dev. Syst.

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Abstract-Robotic hand-eye coordination is recognized as an important skill to deal with complex real environments. Conventional robotic hand-eye coordination methods merely transfer stimulus signals from robotic visual space to hand actuator space. This paper introduces a reverse method: Build another channel that transfers stimulus signals from robotic hand space to visual space. Based on the reverse channel, a human-like behavior pattern: "Stop-to-Fixate", is imparted to the robot, thereby giving the robot an enhanced reaching ability. A visual processing system inspired by the human retina structure is used to compress visual information so as to reduce the robot's learning complexity. In addition, two constructive neural networks establish the two sensory delivery channels. The experimental results demonstrate that the robotic system gradually obtains a reaching ability. In particular, when the robotic hand touches an unseen object, the reverse channel successfully drives the visual system to notice the unseen object.Index Terms-Robotic hand-eye coordination, sensory motor mapping, human-like behavioral pattern, constructive neural network.

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An evaluation of environmental constraints for biologically constrained development of gaze control on an iCub robot

Cited by 7 publications

References 24 publications

From Sensorimotor Experiences to Cognitive Development: Investigating the Influence of Experiential Diversity on the Development of an Epigenetic Robot

From Sensorimotor Experiences to Cognitive Development: Investigating the Influence of Experiential Diversity on the Development of an Epigenetic Robot

From Saccades to Grasping: A Model of Coordinated Reaching Through Simulated Development on a Humanoid Robot

Enhanced Robotic Hand–Eye Coordination Inspired From Human-Like Behavioral Patterns

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