Brain-Inspired Emergence of Behaviors Based on Values and Curiosity in Mobile Robots.
Masumi Ishikawa, Masahiro Nagamatsu, Takao Hagiwara, Naoyuki Yamamoto, Fumiko Kiriake, Takehiko Nishida, Takeshi Yamakawa, Kazuo Ishii, Hideki Nakagawa, Hong Zhang · 2010
We propose to introduce the desire for existence, specific curiosity, diversive curiosity, and novelty into reinforcement learning as intrinsic rewards for developing truly autonomous mobile robots capable of behaving without being told what to do. A pursuit-evasion game composed of predators and their prey is selected as a testbed. Simulation experiments and experiments using real mobile robots, WITHs, on a robotic field well demonstrate the effectiveness of introducing intrinsic rewards in addition to external rewards in the conventional reinforcement learning.