Saturday, 9 February 2008
Meeting 3
The GUI is progressing nicely after talking with Frank. The Start and Pause buttons are working. The Stop function is still causing problems, probably due to threading issues. Daniel is still working on the eye and arm code. Once the GUI is usable, my next task is to implement the third stage of Piagetian development. This involves the arm striking an object to produce an interesting result. The Project Plan has been handed in. Frank is going to talk to Ernesto Compatangelo about setting up a Subversion repository on the DIT servers. I've also got a fair bit of reading to do, but I'll create separate posts for each paper.
Sunday, 3 February 2008
Some more reading
The Constructivist Learning Architecture: A Model of Cognitive Development for Robust Autonomous Robots
Abstract:
Autonomous robots are used more and more in remote and inaccessible places where they cannot be easily repaired if damaged or improperly programmed. A system is needed that would allow these robots to repair themselves by recovering gracefully from damage and adapting to unforeseen changes. Newborn infants employ such a system to adapt to a new and dynamic world by building a hierarchical model of their environment. This model allows them to respond robustly to changes by falling back to an earlier stage of knowledge, rather than failing completely. A computational model that replicates these phenomena in infants would a mobile robot the same adaptability and robustness that infants have. This dissertation presents such a model, the Constructivist Learning Architecture (CLA), that builds a hierarchical knowledge base using a set of interconnected self-organizing learning modules. This dissertation then demonstrates that CLA (1) replicates current studies in infant cognitive development, (2) builds sensorimotor schemas for robot control, (3) learns a goal-directed task from delayed rewards, and (4) can fall back and recover gracefully from damage. CLA is a new approach to robot control that allows robots to recover from damage or adapt to unforeseen changes in the environment. CLA is also a new approach to cognitive modeling that can be used to better understand how people learn for their environment in infancy and adulthood.
It looks interesting, but a bit too much to read in one go. Parts 5 and 6 seem to be most relevent.
Abstract:
Autonomous robots are used more and more in remote and inaccessible places where they cannot be easily repaired if damaged or improperly programmed. A system is needed that would allow these robots to repair themselves by recovering gracefully from damage and adapting to unforeseen changes. Newborn infants employ such a system to adapt to a new and dynamic world by building a hierarchical model of their environment. This model allows them to respond robustly to changes by falling back to an earlier stage of knowledge, rather than failing completely. A computational model that replicates these phenomena in infants would a mobile robot the same adaptability and robustness that infants have. This dissertation presents such a model, the Constructivist Learning Architecture (CLA), that builds a hierarchical knowledge base using a set of interconnected self-organizing learning modules. This dissertation then demonstrates that CLA (1) replicates current studies in infant cognitive development, (2) builds sensorimotor schemas for robot control, (3) learns a goal-directed task from delayed rewards, and (4) can fall back and recover gracefully from damage. CLA is a new approach to robot control that allows robots to recover from damage or adapt to unforeseen changes in the environment. CLA is also a new approach to cognitive modeling that can be used to better understand how people learn for their environment in infancy and adulthood.
It looks interesting, but a bit too much to read in one go. Parts 5 and 6 seem to be most relevent.
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