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IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT, IN PRESS 1 Object learning through active exploration
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@MISC{Ivaldi_ieeetransactions,
author = {Serena Ivaldi and Sao Mai Nguyen and Natalia Lyubova and Alain Droniou and Vincent Padois and David Filliat and Oudeyer Olivier Sigaud},
title = {IEEE TRANSACTIONS ON AUTONOMOUS MENTAL DEVELOPMENT, IN PRESS 1 Object learning through active exploration},
year = {}
}
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Abstract
Abstract—This paper addresses the problem of active object learning by a humanoid child-like robot, using a developmental approach. We propose a cognitive architecture where the visual representation of the objects is built incrementally through active exploration. We present the design guidelines of the cognitive architecture, its main functionalities, and we outline the cognitive process of the robot by showing how it learns to recognize objects in a human-robot interaction scenario inspired by social parenting. The robot actively explores the objects through manipulation, driven by a combination of social guidance and intrinsic motivation. Besides the robotics and engineering achievements, our experiments replicate some observations about the coupling of vision and manipulation in infants, particularly how they focus on the most informative objects. We discuss the further benefits of our architecture, particularly how it can be improved and used to ground concepts. Index Terms—developmental robotics, active exploration, human-robot interaction I.
Keyphrases
active exploration ieee transaction autonomous mental development cognitive architecture design guideline active object learning human-robot interaction scenario human-robot interaction developmental approach informative object cognitive process engineering achievement main functionality social guidance humanoid child-like robot visual representation index term developmental robotics intrinsic motivation social parenting
