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首页> 外文会议>Joint IEEE International Conference on Development and Learning and Epigenetic Robotics >Social reinforcement in intrinsically motivated sensorimotor exploration for embodied agents with constraint awareness
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Social reinforcement in intrinsically motivated sensorimotor exploration for embodied agents with constraint awareness

机译：具有约束意识的内在主体的内在动机感觉运动探索中的社会强化

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This work introduces an intrinsically motivated exploration architecture which considers social reinforcement and motor constraint awareness. The architecture is used to study the modeling of early vocal development from a cognitive developmental perspective. Particular emphasis is placed on embodied cognition and sensorimotor exploratory behaviors. Experiments are performed for two systems, a simple toy example and a simulated vocal tract. In both cases, the existence of an expert instructor that reinforces the exploration with sensor units relevant to communication is assumed. The artificial agent is able to autonomously select goals to explore its own sensorimotor system in regions where a measure of competence to execute intended goals is improved. The agent is also endowed with a proprioceptive mechanism, based on a somatosensorimotor system, that is used to prevent the execution of unreachable motor configurations or invalid configurations. Additionally, during the exploration the instructor observes the sensor productions of the learner. When any sensor production is close to a speech utterance relevant to communication purposes then the instructor answers with that sensor unit. Immediately the learner attempts to imitate the instructor production. We argue that proprioception provides a way to deal with redundancy in the sensorimotor model and that social reinforcement provides clues to the learner of sensorimotor regions where it might be interesting to explore. The experimental results show that using both mechanisms, proprioception and social reinforcement, improves the performance of intrinsically motivated exploration architectures.
机译：这项工作介绍了一种内在动机的探索架构，该架构考虑了社会强化和运动约束意识。该体系结构用于从认知发展的角度研究早期人声发展的建模。特别强调体现在认知和感觉运动的探索行为。实验是针对两个系统进行的，一个简单的玩具示例和一个模拟的声道。在这两种情况下，都假设存在一个专家讲师，该讲师利用与通信相关的传感器单元来加强探索。人工代理能够自主选择目标，以在能够提高执行预期目标的能力的区域内探索自己的感觉运动系统。该代理还具有基于体感电机系统的本体感受机制，该本体机制用于防止执行无法到达的电机配置或无效的配置。此外，在探索过程中，讲师会观察学习者的传感器产品。当任何传感器产生的声音接近与通信目的有关的语音发音时，讲师将使用该传感器单元进行应答。立即，学习者尝试模仿教练的作品。我们认为本体感觉提供了一种处理感觉运动模型中冗余的方法，而社会强化为学习感觉运动区域的学习者提供了线索，在这些学习领域中，探索可能很有趣。实验结果表明，同时使用本体感受和社会强化这两种机制，都可以提高内在驱动的探索架构的性能。

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