Multiple paired forward and inverse models for motor control
Neural Networks - Special issue on neural control and robotics: biology and technology
Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties
International Journal of Robotics Research
An intrinsic reward mechanism for efficient exploration
ICML '06 Proceedings of the 23rd international conference on Machine learning
Neurocomputing
Formal Theory of Creativity, Fun, and Intrinsic Motivation (1990–2010)
IEEE Transactions on Autonomous Mental Development
Intrinsic Motivation Systems for Autonomous Mental Development
IEEE Transactions on Evolutionary Computation
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A curious agent acts so as to optimize its learning about itself and its environment, without external supervision. We present a model of hierarchical curiosity loops for such an autonomous active learning agent, whereby each loop selects the optimal action that maximizes the agent's learning of sensory-motor correlations. The model is based on rewarding the learner's prediction errors in an actor-critic reinforcement learning (RL) paradigm. Hierarchy is achieved by utilizing previously learned motor-sensory mapping, which enables the learning of other mappings, thus increasing the extent and diversity of knowledge and skills. We demonstrate the relevance of this architecture to active sensing using the well-studied vibrissae (whiskers) system, where rodents acquire sensory information by virtue of repeated whisker movements. We show that hierarchical curiosity loops starting from optimally learning the internal models of whisker motion and then extending to object localization result in free-air whisking and object palpation, respectively.