Self-Understanding & Self-Extension: A Systems and Representational Approach

J. Wyatt, A. Aydemir, M. Brenner, M. Hanheide, N. Hawes, P. Jensfelt, M. Kristan, G.-J. Kruijff, P. Lison, A. Pronobis, K. Sjöö, A. Vrečko, H. Zender, M. Zillich, D. Skočaj

In: IEEE Transactions on Autonomous Mental Development (TAMD), Special Issue on Representations and Architectures for Cognitive Systems, 2(4), 2010.

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DOI: 10.1109/TAMD.2010.2090149

There are many different approaches to building a system that can engage in autonomous mental development. In this paper we present an approach based on what we term self-understanding, by which we mean the explicit representation of and reasoning about what a system does and doesn't know, and how that knowledge changes under action. We present an architecture and a set of representations used in two robot systems that exhibit a limited degree of autonomous mental development, which we term self-extension. The contributions include: representations of gaps and uncertainty for specific kinds of knowledge, and a goal management and planning system for setting and achieving learning goals.

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@article{wyatt2010tamd,
  author =       {Wyatt, Jeremy L. and Aydemir, Alper and Brenner, Michael and Hanheide, Marc and Hawes, Nick and Jensfelt, Patric and Kristan, Matej and Kruijff, Geert-Jan M. and Lison, Pierre and Pronobis, Andrzej and Sj\"{o}\"{o}, Kristoffer and Vre\v{c}ko, Alen and Zender, Hendrik and Zillich, Michael and Sko\v{c}aj, Danijel},
  title =        {Self-Understanding \& Self-Extension: A Systems and Representational Approach},
  journal =      {IEEE Transactions on Autonomous Mental Development (TAMD), Special Issue on Representations and Architectures for Cognitive Systems},
  year =         2010,
  month =        dec,
  volume =       2,
  number =       4,
  pages =        {282-303},
  doi =          {10.1109/TAMD.2010.2090149},
  url =          {http://www.pronobis.pro/publications/wyatt2010tamd}
}