Automatic stimulation of experiments and learning based on prediction failure recognition

Authors:
Alex Juarez;Björn Kahl;Timo Henne;Erwin Prassler
Affiliations:
Department of Industrial Design, Eindhoven University of Technology, The Netherlands;Department of Computer Science, University of Applied Sciences Bonn-Rhein-Sieg, Germany;Department of Computer Science, University of Applied Sciences Bonn-Rhein-Sieg, Germany;Department of Computer Science, University of Applied Sciences Bonn-Rhein-Sieg, Germany
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

In this paper we focus on the task of automatically and autonomously initiating experimentation and learning based on the recognition of prediction failure. We present a mechanism that utilizes conceptual knowledge to predict the outcome of robot actions, observes their execution and indicates when discrepancies occur. We show how this mechanism was applied to a robot that learns using the paradigm of learning by experimentation, and present first results obtained from this implementation.