This work introduces new results on the modeling of early-vocal development using artificial intelligent cognitive architectures and a simulated vocal tract. The problem is addressed using intrinsically-motivated learning algorithms for autonomous sensorimotor exploration, a kind of algorithm belonging to the active learning architectures family. The artificial agent is able to autonomously select goals to explore its own sensorimotor system in regions where its competence to execute intended goals is improved. We propose to include a somatosensory system to provide a proprioceptive feedback signal to reinforce learning through the autonomous discovery of motor constraints. Constraints are represented by a somatosensory model which is unknown beforehand to the learner. Both the sensorimotor and somatosensory system are modeled using Gaussian mixture models. We argue that using an architecture which includes a somatosensory model would reduce redundancy in the sensorimotor model and drive the learning process more efficiently than algorithms taking into account only auditory feedback. The role of this proposed system is to predict whether an undesired collision within the vocal tract under a certain motor configuration is likely to occur. Thus, compromised motor configurations are rejected, guaranteeing that the agent is less prone to violate its own constraints. ; Peer Reviewed ; Postprint (author's final draft)
Autonomous Discovery of Motor Constraints in an Intrinsically-Motivated Vocal Learner
2017-04-28
Article (Journal)
Electronic Resource
English
Parla , Autonomous robots , Speech , Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial , Robots autònoms , Active learning , Machine learning , Àrees temàtiques de la UPC::Informàtica::Robòtica , Gaussina mixture models (GMMs) , sensorimotor exploration , early vocal development , Aprenentatge automàtic , intrinsic motivations
DDC: | 629 |
Intrinsically Motivated Actor-Critic for Robot Motor Learning
TIBKAT | 2020
|The recovery potential of intrinsically versus extrinsically motivated off‐job activities
Online Contents | 2014
|Biologically motivated distributed vision system for autonomous undersea vehicles
Tema Archive | 1999
|