TY - GEN
T1 - Tactile-based curiosity maximizes tactile-rich object-oriented actions even without any extrinsic rewards
AU - Mori, Hiroki
AU - Masuda, Masayuki
AU - Ogata, Tetsuya
N1 - Funding Information:
This work was supported by Japan Science and Technology Agency (JST) CREST Grant Number JPMJCR15E3 “Symbol Emergence in Robotics for Future Human-Machine Collaboration”, Japan.
Publisher Copyright:
© ICDL-EpiRob 2020. All rights reserved.
PY - 2020/10/26
Y1 - 2020/10/26
N2 - This study proposed a hypothesis regarding the emergence of object-oriented action via tactile-based curiosity. The hypothesis is such that a curious exploration driven by tactile sensation leads tactile-rich object-oriented actions, while there are no explicit rewards or other designated intentional purposes. Experiments were with the curiosity model named the disagreement model from the reinforcement learning research field and with a simple physics robotic simulation with visual and tactile sensory information. The experimental results indicated that the tactile sensation induces object-oriented actions such as hitting and pecking by the body parts that have tactile sensors. We deduced that the hypothesis could be extended to discussions regarding the acquisition of dexterous skillful object manipulation in human development.
AB - This study proposed a hypothesis regarding the emergence of object-oriented action via tactile-based curiosity. The hypothesis is such that a curious exploration driven by tactile sensation leads tactile-rich object-oriented actions, while there are no explicit rewards or other designated intentional purposes. Experiments were with the curiosity model named the disagreement model from the reinforcement learning research field and with a simple physics robotic simulation with visual and tactile sensory information. The experimental results indicated that the tactile sensation induces object-oriented actions such as hitting and pecking by the body parts that have tactile sensors. We deduced that the hypothesis could be extended to discussions regarding the acquisition of dexterous skillful object manipulation in human development.
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U2 - 10.1109/ICDL-EpiRob48136.2020.9278082
DO - 10.1109/ICDL-EpiRob48136.2020.9278082
M3 - Conference contribution
AN - SCOPUS:85100017406
T3 - ICDL-EpiRob 2020 - 10th IEEE International Conference on Development and Learning and Epigenetic Robotics
BT - ICDL-EpiRob 2020 - 10th IEEE International Conference on Development and Learning and Epigenetic Robotics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2020
Y2 - 26 October 2020 through 30 October 2020
ER -