Exploration and Exploitation of Sensorimotor Contingencies for a Cognitive Embodied Agent

Quentin Houbre, Alexandre Angleraud, Roel Pieters

2020

Abstract

The modelling of cognition is playing a major role in robotics. Indeed, robots need to learn, adapt and plan their actions in order to interact with their environment. To do so, approaches like embodiment and enactivism propose to ground sensorimotor experience in the robot’s body to shape the development of cognition. In this work, we focus on the role of memory during learning in a closed loop. As sensorimotor contingencies, we consider a robot arm that moves a baby mobile toy to get visual reward. First, the robot explores the continuous sensorimotor space by associating visual stimuli to motor actions through motor babbling. After exploration, the robot uses the experience from its memory and exploits it, thus optimizing its motion to perceive more visual stimuli. The proposed approach uses Dynamic Field Theory and is integrated in the GummiArm, a 3D printed humanoid robot arm. The results indicate a higher visual neural activation after motion learning and show the benefits of an embodied babbling strategy.

Paper Citation

in Harvard Style

Houbre Q., Angleraud A. and Pieters R. (2020). Exploration and Exploitation of Sensorimotor Contingencies for a Cognitive Embodied Agent. In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-395-7, pages 546-554. DOI: 10.5220/0008951205460554

in Bibtex Style

@conference{icaart20,
author={Quentin Houbre and Alexandre Angleraud and Roel Pieters},
title={Exploration and Exploitation of Sensorimotor Contingencies for a Cognitive Embodied Agent},
booktitle={Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2020},
pages={546-554},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008951205460554},
isbn={978-989-758-395-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Exploration and Exploitation of Sensorimotor Contingencies for a Cognitive Embodied Agent
SN - 978-989-758-395-7
AU - Houbre Q.
AU - Angleraud A.
AU - Pieters R.
PY - 2020
SP - 546
EP - 554
DO - 10.5220/0008951205460554