Hormonal Modulation of Development and Behaviour Permits a Robot to Adapt to Novel Interactions

Lones, John; Lewis, Matthew; Cañamero, Lola

doi:10.7551/978-0-262-32621-6-ch031

Cited by 5 publications

(8 citation statements)

References 16 publications

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“…The versatile and robust adaptation capabilities shown by our epigenetic architecture in the six environments where it was tested, which posed very different challenges for the robot, supports our view that an epigenetic mechanism can provide a very useful general mechanism for adaptation in autonomous robots. This is corroborated by the application of our epigenetic model to other contexts, such as human-robot interaction [16], [24], formation of group structures [25], and coupled to a neural network to modulate both the learning and behavior or a robot [16].…”

Section: Discussionsupporting

confidence: 63%

A Hormone-Driven Epigenetic Mechanism for Adaptation in Autonomous Robots

Lones

Lewis

Cañamero

2018

IEEE Trans. Cogn. Dev. Syst.

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Different epigenetic mechanisms provide biological organisms with the ability to adjust their physiology and/or morphology and adapt to a wide range of challenges posed by their environments. In particular, one type of epigenetic process, in which hormone concentrations are linked to the regulation of hormone receptors, has been shown to have implications for behavioral development. In this paper, taking inspiration from these biological processes, we investigate whether an epigenetic model based on the concept of hormonal regulation of receptors can provide a similarly robust and general adaptive mechanism for autonomous robots. We have implemented our model using a Koala robot, and tested it in a series of experiments in six different environments with varying challenges to negotiate. Our results, including the emergence of varied behaviors that permit the robot to exploit its current environment, demonstrate the potential of our epigenetic model as a general mechanism for adaptation in autonomous robots.

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Section: Discussionsupporting

confidence: 63%

A Hormone-Driven Epigenetic Mechanism for Adaptation in Autonomous Robots

Lones

Lewis

Cañamero

2018

IEEE Trans. Cogn. Dev. Syst.

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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: 99%

“…In an attempt to overcome these limitations, we integrated in the robot's architecture a new form of neural network that we have since called an "Emergent Neural Network" (ENN), in which nodes and synaptic connections between them are created as the robot is exposed to stimulation. This network should therefore allow the robot to learn about different aspects of the environment with regard to the affordances they provide (Lones et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

“…The proposed model not only allowed the robot to learn about different aspects of its environment and engage in planned behavior in an appropriate manner but also gave it the ability to shape its body representation due to its interaction with the external environment. This allowed the robot to adapt successfully to a range of simple, but "real-world" and dynamic environments such as our office environment (Lones et al, 2014). However, the ENN used in (Lones et al, 2014) while successful, had constraints imposed on it due to the focus of that particular study, where the interest lay in the roles that homeostasis and hormones played on modulating curiosity and novelty-seeking behavior.…”

Section: Introductionmentioning

confidence: 99%

“…This allowed the robot to adapt successfully to a range of simple, but "real-world" and dynamic environments such as our office environment (Lones et al, 2014). However, the ENN used in (Lones et al, 2014) while successful, had constraints imposed on it due to the focus of that particular study, where the interest lay in the roles that homeostasis and hormones played on modulating curiosity and novelty-seeking behavior. Specifically, the network was explicitly pre-trained in a sterile environment and then frozen, removing the potential for additional learning.…”

Section: Introductionmentioning

confidence: 99%

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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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A Systematic Literature Review of Decision-Making and Control Systems for Autonomous and Social Robots

Maroto-Gómez

Alonso-Martín

Malfáz

et al. 2023

Int J of Soc Robotics

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In the last years, considerable research has been carried out to develop robots that can improve our quality of life during tedious and challenging tasks. In these contexts, robots operating without human supervision open many possibilities to assist people in their daily activities. When autonomous robots collaborate with humans, social skills are necessary for adequate communication and cooperation. Considering these facts, endowing autonomous and social robots with decision-making and control models is critical for appropriately fulfiling their initial goals. This manuscript presents a systematic review of the evolution of decision-making systems and control architectures for autonomous and social robots in the last three decades. These architectures have been incorporating new methods based on biologically inspired models and Machine Learning to enhance these systems’ possibilities to developed societies. The review explores the most novel advances in each application area, comparing their most essential features. Additionally, we describe the current challenges of software architecture devoted to action selection, an analysis not provided in similar reviews of behavioural models for autonomous and social robots. Finally, we present the future directions that these systems can take in the future.

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Hormonal Modulation of Development and Behaviour Permits a Robot to Adapt to Novel Interactions

Cited by 5 publications

References 16 publications

A Hormone-Driven Epigenetic Mechanism for Adaptation in Autonomous Robots

A Hormone-Driven Epigenetic Mechanism for Adaptation in Autonomous Robots

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

A Systematic Literature Review of Decision-Making and Control Systems for Autonomous and Social Robots

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