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From Imprinting to Adaptation: Building a History of Affective Interaction

From Imprinting to Adaptation: Building a History of Affective Interaction. Written by Arnaud J. Blanchard & Lola Canamero Presented by James Bowden. Did you know. Ducklings think the first thing they see is their mother This is what is meant by ‘Imprinting’. Imprinting.

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From Imprinting to Adaptation: Building a History of Affective Interaction

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  1. From Imprinting to Adaptation: Building a History of Affective Interaction Written by Arnaud J. Blanchard & Lola Canamero Presented by James Bowden

  2. Did you know... • Ducklings think the first thing they see is their mother • This is what is meant by ‘Imprinting’

  3. 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

  4. 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

  5. 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

  6. The Perception-Action Model • What if the is no care giver to imprint? • How can imprinting occur after ‘hatching’? Learning rate (y) Time (x)

  7. 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

  8. Results Goal Near Goal Far Solid = Current Perception Proximity (higher = closer) Dashed = Goal Perception Speed of response Velocity

  9. Results • 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

  10. 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

  11. 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

  12. 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

  13. 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

  14. Implementing Adaption (Desires) • 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

  15. Experiment 2 • Point in time = a (i.e. 0) • The robot is alone at initialisation • Comfort: static • Reaction: none

  16. Experiment 2 • Point in time = b • The robot is approached by a human • Comfort: decreases • Reaction: Avoids (i.e. Reverses away)

  17. Experiment 2 • Point in time = c • The robot is comforted by the human • Comfort: increases • Reaction: Robot no longer reverses

  18. 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)

  19. Results • The robot has become less apprehensive of unknown objects as it’s previous experience has taught it that they provide comfort.

  20. 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

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