Emergent task-specific object semantics through distributed experience networks

Glover, Arren & Wyeth, Gordon (2011) Emergent task-specific object semantics through distributed experience networks. In International Conference on Intelligent Robots and Systems (IROS 2011), 25-30 September 2011, Hilton San Francisco Union Square, San Francisco, CA.

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Autonomous development of sensorimotor coordination enables a robot to adapt and change its action choices to interact with the world throughout its lifetime. The Experience Network is a structure that rapidly learns coordination between visual and haptic inputs and motor action. This paper presents methods which handle the high dimensionality of the network state-space which occurs due to the simultaneous detection of multiple sensory features. The methods provide no significant increase in the complexity of the underlying representations and also allow emergent, task-specific, semantic information to inform action selection. Experimental results show rapid learning in a real robot, beginning with no sensorimotor mappings, to a mobile robot capable of wall avoidance and target acquisition.

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ID Code: 45915
Item Type: Conference Paper
Refereed: Yes
Keywords: Intelligent Robotics, Sensorimotor Coordination, Experience Network
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2011 [please consult the authors]
Deposited On: 12 Sep 2011 23:16
Last Modified: 06 Oct 2011 22:58

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