Panta Rhei: Curiosity-Driven Exploration to Learn the Image-Schematic Affordances of Pouring Liquids
Date Issued
2021
Abstract
Despite rapid progress, cognitive robots have yet to match the facility with which humans acquire and find ways to reuse manipulation skills. An important component of human cognition seems to be our curiosity-driven exploration of our environments, which results in generalizable theories for action outcome prediction via analogical reasoning. In this paper, we implement a method to emulate this curiosity drive in simulations of the situation of pouring liquids between containers, and to use these simulations to construct a symbolic theory of pouring. The theory links qualitative descriptions of an initial state and manner of pouring with observed behaviors, and can be used to predict qualitative outcomes or select manners of pouring towards achieving a goal.
Subjects
Curiosity-driven Learning
;
Hybrid Approaches
;
Cognitive Robotics
;
Intrinsic Motivation
;
Commonsense Reasoning
Publisher
RWTH Aachen
Institution
Institute
Type
conference paper
Journal/Edited collection
AICS 2021: Artificial Intelligence and Cognitive Science 2021 = CEUR Workshop Proceedings, Band 3105
Page number
12
Secondary publication
Yes
Document version
Published Version
Language
English
File(s)![Thumbnail Image]()
Loading...
Name
Pomarlan_Hedblom_Porzel_Panta Rhei_2021_published-version.pdf
Size
1.56 MB
Format
Adobe PDF
Checksum
(MD5):bb9a701f8c2253253d8bbbed730aaac1