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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
In: IEEE Transactions on Autonomous Mental Development (TAMD), Vol. 2, No. 4, Pages 282-303, IEEE, 12/2010.

Abstract

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.

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