In this paper we propose an intrinsic developmental algorithm that is designed to allow a mobile robot to incrementally progress through levels of increasingly sophisticated behavior. We believe that the core ingredients for such a developmental algorithm are abstractions, anticipations, and self-motivations. We describe a multilevel, cascaded discovery and… (More)
This paper introduces Interactional Motivation (IM) as a way to implement self-motivation in artificial systems. An interactionally motivated agent selects behaviors for the sake of enacting the behavior itself rather than for the value of the behavior's outcome. IM contrasts with extrinsic motivation by the fact that it defines the agent's motivation… (More)
This paper describes Metacat, an extension of the Copycat model of analogy-making. The development of Copycat focused on modeling context-sensitive concepts and the ways in which they interact with perception within an abstract microworld of analogy problems. This approach differs from most other models of analogy in its insistence that concepts acquire… (More)
This paper explores a philosophy and connectionist algorithm for creating a long-term, self-motivated developmental robot control system. Self-motivation is viewed as an emergent property arising from two competing pressures: the need to accurately predict the environment while simultaneously wanting to seek out novelty in the environment. These competing… (More)
This paper describes Metacat, an extension of the Copycat analogy-making program. Metacat is able to monitor its own processing, allowing it to recognize , remember, and recall patterns that occur in its " train of thought " as it makes analogies. This gives the program a high degree of flexibility and self-control. The architecture of the program is… (More)
This paper summarizes recent work on extending the architecture of the Copycat analogy-making program to include the ability to monitor certain aspects of its own processing as it solves analogy problems. It discusses several important weaknesses of the Copycat model and outlines current efforts aimed at overcoming these limitations.
A goal of epigenetic robotics is to design a control architecture that implements an ongoing, autonomous developmental process which is unsupervised, unscheduled, and task-independent. The developmental process we are currently exploring contains three essential mechanisms: categorization, prediction, and intrinsic motivation. In this paper we describe a… (More)
The benefits to using robots in the artificial intelligence and robotics classrooms are now fairly well established. However, most projects demonstrated so far are fairly simple. In this paper we explore advanced robotics projects that have been (or could be) successfully implemented by undergraduate students in a one-semester or two-semester course. We… (More)