The IM-CLeVeR Project: Intrinsically Motivated Cumulative Learning Versatile Robots

Gianluca Baldassare, Marco Mirolli, Francesco Mannella, Daniele Caligiore, Elisabetha Visalberghi, Francesco Natale, Valentina Truppa, Gloria Sabbatini, Eugenio Guglielmelli, Flavio Keller, Domenico Campolo, Peter Redgrave, Kevin Gurney, Tom Stafiord, Jochen Triesch, Cornelius Weber, Constantin Rothkopf, Ulrich Nehmzow, Joan Condell, Mia SiddiqueMark Lee, Martin Hülse, Juergen Schmidhuber, Faustino Gomez, Alexander Foester, Julian Togelius, Andrew Barto

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

Abstract

This short paper presents the core ideas of the IM-CLeVeR Project. IM-CLeVeR aims at developing a new methodology for designing
robot controllers that can: (a) cumulatively learn new skills through autonomous develop-ment based on intrinsic motivations, and (b) reuse such skills for accomplishing multiple, complex, and externally-assigned tasks. This goal will be pursued by investigating three fundamental issues: (a) the mechanisms of
abstraction of sensorimotor information; (b) the mechanisms underlying intrinsic motiva- tions; (c) hierarchical architectures that per- mit cumulative learning. The study of these issues will be conducted on the basis of empir- ical experiments run with monkeys, children, and human adults, with bio-mimetic models aimed at reproducing and interpreting the re- sults of such experiments, and through the de-sign of innovative machine learning systems. The models, architectures, and algorithms so developed will be validated with experiments
and demonstrators run with the simulated and real iCub humanoid robot.
Original languageEnglish
Title of host publicationProceedings of the 9th International Conference on Epigenetic Robotics
Subtitle of host publicationModeling Cognitive Development in Robotic Systems
EditorsLola Cañamero, Pierre-Yves Oudeyer, Christian Balkenius
PublisherLund University Publications
Pages189-190
Number of pages2
Publication statusPublished - 01 Dec 2009
EventProceedings of the Ninth International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems - Venice, Italy
Duration: 12 Nov 200914 Nov 2009

Conference

ConferenceProceedings of the Ninth International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems
Country/TerritoryItaly
CityVenice
Period12 Nov 200914 Nov 2009

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