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dc.contributor.authorBugur, S.
dc.contributor.authorÖztop, Erhan
dc.contributor.authorNagai, Y.
dc.contributor.authorUgur, E.
dc.date.accessioned2020-10-22T12:48:21Z
dc.date.available2020-10-22T12:48:21Z
dc.date.issued2021-06
dc.identifier.issn2379-8920en_US
dc.identifier.urihttp://hdl.handle.net/10679/7041
dc.identifier.urihttps://ieeexplore.ieee.org/document/8792160
dc.description.abstractIn this study, we propose an effective action parameter exploration mechanism that enables efficient discovery of robot actions through interacting with objects in a simulated table-top environment. For this, the robot organizes its action parameter space based on the generated effects in the environment and learns forward models for predicting consequences of its actions. Following the Intrinsic Motivation approach, the robot samples the action parameters from the regions that are expected to yield high learning progress (LP). In addition to the LP-based action sampling, our method uses a novel parameter space organization scheme to form regions that naturally correspond to qualitatively different action classes, which might be also called action primitives. The proposed method enabled the robot to discover a number of lateralized movement primitives and to acquire the capability of prediction the consequences of these primitives. Furthermore our results suggest the reasons behind the earlier development of grasp compared to push action in infants. Finally, our findings show some parallels with data from infant development where correspondence between action production and prediction is observed.en_US
dc.description.sponsorshipBogazici Research Fund ; Japan Science and Technology Agency
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE Transactions on Cognitive and Developmental Systems
dc.rightsrestrictedAccess
dc.titleEffect regulated projection of robot’s action space for production and prediction of manipulation primitives through learning progress and predictability based explorationen_US
dc.typeArticleen_US
dc.peerreviewedyesen_US
dc.publicationstatusPublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-3051-6038 & YÖK ID 45227) Öztop, Erhan
dc.contributor.ozuauthorÖztop, Erhan
dc.identifier.volume13
dc.identifier.issue2
dc.identifier.startpage286
dc.identifier.endpage297
dc.identifier.wosWOS:000659548600006
dc.identifier.doi10.1109/TCDS.2019.2933900en_US
dc.subject.keywordsIntrinsic motivationen_US
dc.subject.keywordsLearning progressen_US
dc.subject.keywordsSensorimotor developmenten_US
dc.subject.keywordsPrimitive formation.en_US
dc.identifier.scopusSCOPUS:2-s2.0-85070693534
dc.contributor.authorMale1
dc.relation.publicationcategoryArticle - International Refereed Journal - Institutional Academic Staff


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