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Article Dans Une Revue Frontiers in Neurorobotics Année : 2013

From Self-Assessment to Frustration, A Small Step Towards Autonomy in Robotic Navigation.

Nicolas Cuperlier
Philippe Gaussier
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Philippe Tarroux
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Résumé

Autonomy and self-improvement capabilities are still challenging in the fields of robotics and machine learning. Allowing a robot to autonomously navigate in wide and unknown environments not only requires a repertoire of robust strategies to cope with miscellaneous situations, but also needs mechanisms of self-assessment for guiding learning and for monitoring strategies. Monitoring strategies requires feedbacks on the behavior's quality, from a given fitness system in order to take correct decisions. In this work, we focus on how a second-order controller can be used to (1) manage behaviors according to the situation and (2) seek for human interactions to improve skills. Following an incremental and constructivist approach, we present a generic neural architecture, based on an online novelty detection algorithm that may be able to self-evaluate any sensory-motor strategies. This architecture learns contingencies between sensations and actions, giving the expected sensation from the previous perception. Prediction error, coming from surprising events, provides a measure of the quality of the underlying sensory-motor contingencies. We show how a simple second-order controller (emotional system) based on the prediction progress allows the system to regulate its behavior to solve complex navigation tasks and also succeeds in asking for help if it detects dead-lock situations. We propose that this model could be a key structure toward self-assessment and autonomy. We made several experiments that can account for such properties for two different strategies (road following and place cells based navigation) in different situations.

Dates et versions

hal-00862838 , version 1 (17-09-2013)

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Citer

Adrien Jauffret, Nicolas Cuperlier, Philippe Gaussier, Philippe Tarroux. From Self-Assessment to Frustration, A Small Step Towards Autonomy in Robotic Navigation.. Frontiers in Neurorobotics, 2013, pp.7:16. ⟨10.3389/fnbot.2013.00016⟩. ⟨hal-00862838⟩
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