Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction View Full Text


Ontology type: schema:ScholarlyArticle      Open Access: True


Article Info

DATE

1998-04

AUTHORS

Luc Berthouze, Yasuo Kuniyoshi

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 ‘stage theory’. More... »

PAGES

187-200

Journal

TITLE

Machine Learning

ISSUE

1-3

VOLUME

31

Identifiers

URI

http://scigraph.springernature.com/pub.10.1023/a:1007453010407

DOI

http://dx.doi.org/10.1023/a:1007453010407

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1037145498


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