2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)最新文献

Epigenetic adaptation through hormone modulation in autonomous robots 自主机器人中激素调节的表观遗传适应

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-12-31 DOI: 10.1109/DEVLRN.2013.6652561

J. Lones, L. Cañamero

引用次数: 8

Understanding embodied visual attention in child-parent interaction 理解亲子互动中的具身视觉注意

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652555

S. Bambach, David J. Crandall, Chen Yu

{"title":"Understanding embodied visual attention in child-parent interaction","authors":"S. Bambach, David J. Crandall, Chen Yu","doi":"10.1109/DEVLRN.2013.6652555","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652555","url":null,"abstract":"A key component of the human visual system is our attentional control - the selection of which visual stimuli to pay attention to at any moment in time. Understanding visual attention in children could yield new insight into how the visual system develops during formative years and how their visual attention and selection play a role in development and learning. We use head-mounted cameras to record first-person video from interacting children and parents, giving a good approximation of the contents of their visual fields of view, and collect gaze direction data to record where they look within the visual field. We data-mine this data to study the distributions of gaze patterns within the first-person visual frame for both children and adults. We also study the ability of visual saliency to predict visual attention, as a function of the tasks, actions, and interactions that the participants perform. We find significant differences in the results between children and parents, indicating substantial differences in how their bodily actions are coupled with their visual attention between developing (child) and developed (adult) visual systems.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134430615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 23

Transfer learning for direct policy search: A reward shaping approach 直接政策搜索的迁移学习:奖励形成方法

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652568

S. Doncieux

{"title":"Transfer learning for direct policy search: A reward shaping approach","authors":"S. Doncieux","doi":"10.1109/DEVLRN.2013.6652568","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652568","url":null,"abstract":"In the perspective of life long learning, a robot may face different, but related situations. Being able to exploit the knowledge acquired during a first learning phase may be critical in order to solve more complex tasks. This is the transfer learning problem. This problem is addressed here in the case of direct policy search algorithms. No discrete states, nor actions are defined a priori. A policy is described by a controller that computes orders to be sent to the motors out of sensor values. Both motor and sensor values can be continuous. The proposed approach relies on population based direct policy search algorithms, i.e. evolutionary algorithms. It exploits the numerous behaviors that are generated during the search. When learning on the source task, a knowledge base is built. The knowledge base aims at identifying the most salient behaviors segments with regards to the considered task. Afterwards, the knowledge base is exploited on a target task, with a reward shaping approach: besides its reward on the task, a policy is credited with a reward computed from the knowledge base. The rationale behind this approach is to automatically detect the stepping stones, i.e. the behavior segments that have lead to a reward in the source task before the policy is efficient enough to get the reward on the target task. The approach is tested in simulation with a neuroevolution approach and on ball collecting tasks.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":"6 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132336138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13

Attentional constraints and statistics in toddlers' word learning 幼儿词汇学习中的注意限制与统计

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652542

Sumarga H. Suanda, Seth B. Foster, Linda B. Smith, Chen Yu

引用次数: 3

Grounding abstract action words through the hierarchical organization of motor primitives 通过运动原语的层次组织来建立抽象动作词

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652543

Francesca Stramandinoli, D. Marocco, A. Cangelosi

{"title":"Grounding abstract action words through the hierarchical organization of motor primitives","authors":"Francesca Stramandinoli, D. Marocco, A. Cangelosi","doi":"10.1109/DEVLRN.2013.6652543","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652543","url":null,"abstract":"Cognitive developmental robotics is facing the challenge of building robots capable of working independently and/or with other agents in non-structured scenarios, which can autonomously react to dynamic changes that occur in the environment. Providing robots with the capability to comprehend and produce language in a “human-like” manner represents a powerful tool for flexible and intelligent interaction between robots and human beings. Robots endowed with linguistic capabilities, in fact, could better understand situations and exchange information; through language robots could cooperate and negotiate with human beings in order to accomplish shared plans. This work describes a neuro-robotics model for the acquisition of abstract action words in the iCub humanoid robot. We claim that the acquisition of concepts that refer to such abstract words (e.g. verbs like “use”, “make”) can be driven by action's organization. In the presented model the integration of low-level capabilities (e.g. perceptual and sensorimotor skills) enables the hierarchical organization of concepts that leads to the grounding of more general words.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":"49 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128529290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Development of self-monitoring essential for vocal interactions in marmoset monkeys 狨猴声音互动中必要的自我监控发展

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652553

D. Takahashi, Darshana Narayanan, A. Ghazanfar

{"title":"Development of self-monitoring essential for vocal interactions in marmoset monkeys","authors":"D. Takahashi, Darshana Narayanan, A. Ghazanfar","doi":"10.1109/DEVLRN.2013.6652553","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652553","url":null,"abstract":"In humans, self-monitoring is essential for conversations [1] and this ability is fully developed only after 2 years of age [2]. How vocal self-monitoring changes over the course of development, how it evolved, and how it is mediated by neural mechanisms are not known. In this study, we use marmoset monkeys to address these issues. We recorded natural vocal exchanges between parent and infant monkeys and looked for evidence of self-monitoring in both the adults and the infants. Our results show that, similar to humans, adult marmosets have the capacity to self-monitor whereas infants do not. Using a computational model of marmoset vocal exchange dynamics [3] we investigated possible neural mechanism underlying the development of self-monitoring. Our model is based on the interactions between three neural structures (representing limbic, motor and auditory regions) with feedback connectivity inspired by published physiological and anatomical data. The simulations show that strengthening the inhibitory connection between auditory and limbic regions drives the development of self-monitoring and, ultimately, adult-like vocal behavior.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130958789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Impacts of environment, nervous system and movements of preterms on body map development: Fetus simulation with spiking neural network 环境、神经系统和运动对早产儿身体地图发育的影响:用尖峰神经网络模拟胎儿

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652548

Yasunori Yamada, Keiko Fujii, Y. Kuniyoshi

{"title":"Impacts of environment, nervous system and movements of preterms on body map development: Fetus simulation with spiking neural network","authors":"Yasunori Yamada, Keiko Fujii, Y. Kuniyoshi","doi":"10.1109/DEVLRN.2013.6652548","DOIUrl":"https://doi.org/10.1109/DEVLRN.2013.6652548","url":null,"abstract":"Recent developmental studies have shown the importance of interaction with the environment resulting from fetal spontaneous movements for the formation of body maps in the spinal cord and primary somatosensory area. However, the underlying mechanism as well as the factors which contribute to the development of body maps is largely unknown. Here, we simulated the development of the body map using a human fetus simulation, and investigated the contribution of three factors which often differ in normal fetuses and preterms: (i) developmental environment, (ii) nervous system and (iii) movement patterns. The fetus model has a musculoskeletal body as well as sensory organs for tactile and proprioception, which allows us to simulate sensory feedbacks resulting from interaction with the uterine environment. We simulated the development of body maps by using these sensory feedbacks as inputs to the spinal and somatosensory cortex models, which are spiking neural networks with leaky integrate-and-fire neurons and spike-timing-dependent synaptic plasticity. We showed that the networks under normal fetus conditions can learn body part-specific modular architectures and responses, and have neurons encoding specific postures and double-touch events. In contrast, we found that (i) a change in environment from inside to outside the uterus, (ii) an imbalance between excitation and inhibition of the nervous system and (iii) decrease in variation and complexity of movement patterns each lead to the development of abnormal body maps in terms of function and structure of learned networks. These results suggest that these factors influence or disrupt body map development in preterms and their subsequent cognitive development.","PeriodicalId":106997,"journal":{"name":"2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134243443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 38

Autonomous learning of domain models using two-dimensional probability distributions 基于二维概率分布的领域模型自主学习

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652524

Witold Sowiski, Frank Guerin

引用次数: 0

Learning versatile sensorimotor coordination with goal babbling and neural associative dynamics 学习多用途的感觉运动协调与目标咿呀学语和神经联想动力学

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652566

R. F. Reinhart, Matthias Rolf

引用次数: 13

Improving implicit communication in mixed human-robot teams with social force detection 基于社会力检测的人机混合团队隐式沟通改进

2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics (ICDL) Pub Date : 2013-11-04 DOI: 10.1109/DEVLRN.2013.6652573

Bradley Hayes, B. Scassellati

引用次数: 8