A curious robot: An explorative-exploitive inference algorithm

Publikation: Bidrag til bog/antologi/rapportKonferencebidrag i proceedingsForskningfagfællebedømt

We propose a sequential learning algorithm with a focus on robot
control. It is initialised by a teacher who directs the robot
through a series of example solutions of a problem. Left alone, the
control chooses its next action by prediction based on a variable
order Markov chain model selected to minimise a MDL criterion based
on generalised code length La of the past robot-environment
interaction. The user specifies the parameter a and as a
result, the robot can be directed towards exploratory behaviour if
confidence in the teacher is low (a<0), and towards
goal-seeking exploitive behaviour if confidence in the teacher is
high (a>0). The novelty of the proposed method lies in the
use of generalised code length in the MDL model selection criterion.
TitelRoboMat 07 : Coimbra, Portugal, 17-19 September, 2007
RedaktørerHelder Araujo, Maria Isabel Ribeiro
Antal sider6
ForlagCIM (Centro Internacional de Matematica)
ISBN (Trykt)9789899501133
StatusUdgivet - 2007
BegivenhedWorkshop of Robotics and Mathematics (RoboMat 2007) - Coimbra, Portugal
Varighed: 17 sep. 200719 sep. 2007


KonferenceWorkshop of Robotics and Mathematics (RoboMat 2007)

ID: 2030803