The memorization of in-line sensorimotor invariants: toward behavioral ontogeny and enactive agents

This paper presents a behavioral ontogeny for artificial agents based on the interactive memorization of sensorimotor invariants. The agents are controlled by continuous timed recurrent neural networks (CTRNNs) which bind their sensors and motors within a dynamic system. The behavioral ontogenesis i...

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Bibliographic Details
Published in:Artificial life and robotics 2014-09, Vol.19 (2), p.127-135
Main Authors: De Loor, Pierre, Manac’h, Kristen, Chevaillier, Pierre
Format: Article
Language:English
Subjects:
Artificial Intelligence
Cognitive science
Computation by Abstract Devices
Computer Science
Control
Mechatronics
Original Article
Robotics
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Summary:This paper presents a behavioral ontogeny for artificial agents based on the interactive memorization of sensorimotor invariants. The agents are controlled by continuous timed recurrent neural networks (CTRNNs) which bind their sensors and motors within a dynamic system. The behavioral ontogenesis is based on a phylogenetic approach: memorization occurs during the agent’s lifetime and an evolutionary algorithm discovers CTRNN parameters. This shows that sensorimotor invariants can be durably modified through interaction with a guiding agent. After this phase has finished, agents are able to adopt new sensorimotor invariants relative to the environment with no further guidance. We obtained these kinds of behaviors for CTRNNs with 3–6 units, and this paper examines the functioning of those CTRNNs. For instance, they are able to internally simulate guidance when it is externally absent, in line with theories of simulation in neuroscience and the enactive field of cognitive science.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-014-0143-3