DFKI-LT - Self-Understanding and Self-Extension: A systems and representational approach

Jeremy L. Wyatt, Alper Aydemir, Michael Brenner, Marc Hanheide, Nick Hawes, Patric Jensfelt, Matej Kristan, Geert-Jan Kruijff, Pierre Lison, Andrzej Pronobis, Kristoffer Sjöö, Danijel Skocaj, Alen Vrecko, Hendrik Zender, Michael Zillich
Self-Understanding and Self-Extension: A systems and representational approach
3 IEEE Transactions on Autonomous Mental Development volume 2 number 4, Pages 282-303, IEEE, 12/2010
 
There are many different approaches to building a system that can engage in autonomous mental development. In this paper we present an approach based on what we term self-understanding, by which we mean the use of explicit representation of and reasoning about what a system does and doesn't know, and how that understanding changes under action. We present a coherent architecture and a set of representations used in two robot systems that exhibit a limited degree of autonomous mental development, what we term self-extension. The contributions include: representations of gaps and uncertainty for specific kinds of knowledge, and a motivational and planning system for setting and achieving learning goals.
 
Files: BibTeX, TAMD.2010.2090149