{"id":1018,"date":"2018-12-18T11:13:03","date_gmt":"2018-12-18T10:13:03","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1018"},"modified":"2018-12-18T11:13:57","modified_gmt":"2018-12-18T10:13:57","slug":"a-developmental-architecture-for-sensory-motor-skills-based-on-predictors","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1018","title":{"rendered":"A developmental architecture for sensory-motor skills based on predictors, and a nice state-of-the-art in cognitive architectures for sensory-motor skill learning"},"content":{"rendered":"<h4>E. Wieser and G. Cheng, <strong>A Self-Verifying Cognitive Architecture for Robust Bootstrapping of Sensory-Motor Skills via Multipurpose Predictors<\/strong>, IEEE Transactions on Cognitive and Developmental Systems, vol. 10, no. 4, pp. 1081-1095, <a href=\"https:\/\/doi.org\/10.1109\/TCDS.2018.2871857\" target=\"_blank\">DOI: 10.1109\/TCDS.2018.2871857<\/a>.<\/h4>\n<blockquote><p>The autonomous acquisition of sensory-motor skills along multiple developmental stages is one of the current challenges in robotics. To this end, we propose a new developmental cognitive architecture that combines multipurpose predictors and principles of self-verification for the robust bootstrapping of sensory-motor skills. Our architecture operates with loops formed by both mental simulation of sensory-motor sequences and their subsequent physical trial on a robot. During these loops, verification algorithms monitor the predicted and the physically observed sensory-motor data. Multiple types of predictors are acquired through several developmental stages. As a result, the architecture can select and plan actions, adapt to various robot platforms by adjusting proprioceptive feedback, predict the risk of self-collision, learn from a previous interaction stage by validating and extracting sensory-motor data for training the predictor of a subsequent stage, and finally acquire an internal representation for evaluating the performance of its predictors. These cognitive capabilities in turn realize the bootstrapping of early hand-eye coordination and its improvement. We validate the cognitive capabilities experimentally and, in particular, show an improvement of reaching as an example skill.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>E. Wieser and G. Cheng, A Self-Verifying Cognitive Architecture for Robust Bootstrapping of Sensory-Motor Skills via Multipurpose Predictors, IEEE Transactions <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1018\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[12],"tags":[238,391,71],"class_list":["post-1018","post","type-post","status-publish","format-standard","hentry","category-developmental-robotics","tag-cognitive-architecture","tag-prediction-in-cognition","tag-skill-learning"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1018"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1018"}],"version-history":[{"count":2,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1018\/revisions"}],"predecessor-version":[{"id":1020,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1018\/revisions\/1020"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1018"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1018"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1018"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}