Towards self-reflecting machines: two-minds in one robot

Authors:
Juan Cristobal Zagal;Hod Lipson
Affiliations:
Computational Synthesis Laboratory, Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY;Computational Synthesis Laboratory, Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY
Venue:
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part I
Year:
2009

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Abstract

We introduce a technique that allows a robot to increase its resiliency and learning skills by exploiting a process akin to self-reflection. A robot contains two controllers: A pure reactive innate controller, and a reflective controller that can observe, model and control the innate controller. The reflective controller adapts the innate controller without access to the innate controller's internal state or architecture; Instead, it models it and then synthesizes filters that exploit its existing capabilities for new situations. In this paper we explore a number of scenarios where the innate controller is a recurrent neural network. We demonstrate significant adaptation ability with relatively few physical trials.