Bringing Up Robot: Fundamental Mechanisms For Creating A Self-Motivated, Self-Organizing Architecture

In this paper we propose an intrinsic developmental algorithm that is designed to allow a mobile robot to incrementally progress through levels of increasingly sophisticated behavior. We believe core ingredients for such a developmental algorithm are abstractions, anticipations, and self-motivations. We describe a multilevel, cascaded discovery and control architecture that includes these core ingredients. As a first step toward implementing the proposed architecture, we explore two novel mechanisms: a governor for automatically regulating the training of a neural network, and a path-planning neural network driven by patterns of "mental states" that represent protogoals.

• Type: Journal
• Year: 2005
• Where: CAS
• Authors: Douglas S. Blank, Deepak Kumar, Lisa Meeden, James B. Marshall
• Keywords: CAS 2005, Core Ingredients, Developmental Algorithm, Intrinsic Developmental Algorithm