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Emergence and Categorization of Coordinated Visual Behavior Through Embodied Interaction

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Document pages: 15 pages

Abstract: This paper discusses the emergence of sensorimotor coordination for ESCHeR, a 4DOF redundant foveated robot-head, by interaction with its environment. A feedback-error-learning(FEL)-based distributed control provides the system with explorative abilities with reflexes constraining the learning space. A Kohonen network, trained at run-time, categorizes the sensorimotor patterns obtained over ESCHeR s interaction with its environment, enables the reinforcement of frequently executed actions, thus stabilizing the learning activity over time. We explain how the development of ESCHeR s visual abilities (namely gaze fixation and saccadic motion), from a context-free reflex-based control process to a context-dependent, pattern-based sensorimotor coordination can be related to the Piagetian stage theory .

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