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.
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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|Item Type:||Conference Paper|
|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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