From Imprinting to Adaptation: Building a History of Affective Interaction
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Transcript of From Imprinting to Adaptation: Building a History of Affective Interaction
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FROM IMPRINTING TO ADAPTATION: BUILDING A HISTORY OF AFFECTIVE INTERACTIONWritten by Arnaud J. Blanchard & Lola Canamero
Presented by James Bowden
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DID YOU KNOW... Ducklings think the first thing they see is
their mother
This is what is meant by ‘Imprinting’
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IMPRINTING The phenomenon where animals form special
attachments to objects which they are exposed to in early life
Allows animals to identify a ‘care giver’.
Not limited to birds
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CONSIDERATIONS FOR AN IMPRINTING MODEL
Imprinting may not happen immediately after birth What if animal is blind at birth? What if there is no ‘mother’ to imprint?
What processes are involved? Attractiveness Familiar vs Novel
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THE PERCEPTION-ACTION MODEL At all times there is a current perception and
a goal perception
Actions taken are a side effect of wanting to achieve the goal perception
At the start, the goal perception and current perception should be same
This demonstrates Imprinting
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What if the is no care giver to imprint?
How can imprinting occur after ‘hatching’?
THE PERCEPTION-ACTION MODEL
Time (x)
Learning rate (y)
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EXPERIMENT 1 Koala Robot
All inputs provided by infrared sensors
Has 3 actions Approaching: Attempts to reach the goal perception Following: Attempts to stay near the goal perception Avoids: Where a nearby presence has made the
goal perception another location
Expressed by accelerating and reversing
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RESULTSGoal Near Goal Far
Velocity
Proximity(higher = closer)
Speed of response
Solid = Current Perception Dashed = Goal Perception
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Top graphs Goal perception stabilises over time even though
the ‘imprinting stimulus’ moves at different distances in each experiment
Bottom graphs Changes match attempts to converge
ideal/cureent goals on the top graphs
This demonstrates an initial imprinting process
RESULTS
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ADAPTION So far the only adaptation over time is the
decreasing learning rate
This prevents everything that has been learned at one point being replaced in the future
It is also important to consider how relevant a stimulus is
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ASSESSING RELEVANCE In this paper, a stimulus’ relevance is
decided by the level of comfort it provides
For this experiment comfort is given by stimulating the robots left sensor
Learning rate still decreases over time but attachments are formed faster when comfort is high
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MULTIPLE GOAL PERCEPTIONS The robot was also required to interact with a
stimulus while judging comfort levels
This would allow it to judge the comfort level of a stimulus
Different comfort to stimulus levels created the need for temporary goal perceptions, given certain circumstances
Known as Desired Perceptions
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IMPLEMENTING ADAPTION (COMFORT)
Learning rate still tends to 0 but now it is modulated by 3 different levels of comfort
This poses the danger of an environment becoming too hostile for the robot to learn at all
Solved by modulating the learing rate by variation, rather than a fixed value
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Desired perceptions are evaluated by storing recent comfort levels and seeking out previous states of ‘happiness’ when an environment suddenly becomes hostile.
The new goal perception therefore becomes a combination of desired perceptions
IMPLEMENTING ADAPTION (DESIRES)
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EXPERIMENT 2
Point in time = a (i.e. 0)
The robot is alone at initialisation
Comfort: static
Reaction: none
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EXPERIMENT 2
Point in time = b
The robot is approached by a human
Comfort: decreases
Reaction: Avoids (i.e. Reverses away)
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EXPERIMENT 2
Point in time = c
The robot is comforted by the human
Comfort: increases
Reaction: Robot no longer reverses
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EXPERIMENT 2
Point in time = d
The human stops comforting the robot
Comfort: decreases
Reaction: Robot ‘explores’ to find a previous state in which it was happier (goal perception)
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RESULTS
The robot has become less apprehensive of unknown objects as it’s previous experience has taught it that they provide comfort.
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MY CONCLUSIONS OF THIS PAPER Some interesting concepts of adaption but
few specifics
Specific models/implementation are incredibly simplified
Lacks different comfort sources E.g. Food, warmth,
Overall the epigenetic model exists but lacks detail in implementation