BRINGING UP ROBOT: FUNDAMENTAL MECHANISMS FOR CREATING A SELF-MOTIVATED, SELF-ORGANIZING ARCHITECTURE
Douglas Blank, Deepak Kumar, Lisa Meeden, James B. Marshall · Cybernetics & Systems · 2005
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 that the 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.