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Home / Proceedings / Papers from the 2007 AAAI Spring Symposium / Control Mechanisms for Spatial Knowledge Processing in Cognitive / Intelligent Systems

Where do Actions Come From? Autonomous Robot Learning of Objects and Actions

March 14, 2023

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Authors

Joseph Modayil

Benjamin Kuipers

DOI:


Abstract:

Decades of AI research have yielded techniques for learning, inference, and planning that depend on human-provided ontologies of self, space, time, objects, actions, and properties. Since robots are constructed with low-level sensor and motor interfaces that do not provide these concepts, the human robotics researcher must create the bindings between the required high-level concepts and the available low-level interfaces. This raises the developmental learning problem for robots of how a learning agent can create high-level concepts from its own low-level experience. Prior work has shown how objects can be individuated from low-level sensation, and certain properties can be learned for individual objects. This work shows how high-level actions can be learned autonomously by searching for control laws that reliably change these properties in predictable ways. We present a robust and efficient algorithm that creates reliable control laws for perceived objects. We demonstrate on a physical robot how these high-level actions can be learned from the robot's own experiences, and can then applied to a learned object to achieve a desired goal.

Topics: Spring

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Joseph Modayil||Benjamin Kuipers Where do Actions Come From? Autonomous Robot Learning of Objects and Actions Papers from the 2007 AAAI Spring Symposium (2007) .

Joseph Modayil||Benjamin Kuipers Where do Actions Come From? Autonomous Robot Learning of Objects and Actions Spring 2007, .

Joseph Modayil||Benjamin Kuipers (2007). Where do Actions Come From? Autonomous Robot Learning of Objects and Actions. Papers from the 2007 AAAI Spring Symposium, .

Joseph Modayil||Benjamin Kuipers. Where do Actions Come From? Autonomous Robot Learning of Objects and Actions. Papers from the 2007 AAAI Spring Symposium 2007 p..

Joseph Modayil||Benjamin Kuipers. 2007. Where do Actions Come From? Autonomous Robot Learning of Objects and Actions. "Papers from the 2007 AAAI Spring Symposium". .

Joseph Modayil||Benjamin Kuipers. (2007) "Where do Actions Come From? Autonomous Robot Learning of Objects and Actions", Papers from the 2007 AAAI Spring Symposium, p.

Joseph Modayil||Benjamin Kuipers, "Where do Actions Come From? Autonomous Robot Learning of Objects and Actions", Spring, p., 2007.

Joseph Modayil||Benjamin Kuipers. "Where do Actions Come From? Autonomous Robot Learning of Objects and Actions". Papers from the 2007 AAAI Spring Symposium, 2007, p..

Joseph Modayil||Benjamin Kuipers. "Where do Actions Come From? Autonomous Robot Learning of Objects and Actions". Papers from the 2007 AAAI Spring Symposium, (2007): .

Joseph Modayil||Benjamin Kuipers. Where do Actions Come From? Autonomous Robot Learning of Objects and Actions. Spring[Internet]. 2007[cited 2023]; .


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