Emergence and Categorization of Coordinated Visual Behavior through Embodied Interaction

Berthouze, L. and Kuniyoshi, Y. (1998) Emergence and Categorization of Coordinated Visual Behavior through Embodied Interaction. Machine Learning, 31 (1-3). pp. 187-200. ISSN 0885-6125

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Abstract

This paper discusses the emergence of sensorimotor coordination for ESCHeR, a 4DOF redundant foveated rob ot-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 "theory".

Item Type: Article
Additional Information: The original publication is available at www.springerlink.com
Keywords: foveated active vision - oculomotor control - feedback-error-learning - emergent coordination - sensorimotor memory
Schools and Departments: School of Engineering and Informatics > Informatics
Subjects: Q Science > QA Mathematics > QA0075 Electronic computers. Computer science
Depositing User: Chris Keene
Date Deposited: 27 Jul 2007
Last Modified: 30 Nov 2012 16:51
URI: http://sro.sussex.ac.uk/id/eprint/1235
Google Scholar:51 Citations
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