{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T12:56:29Z","timestamp":1648817789528},"reference-count":47,"publisher":"Walter de Gruyter GmbH","issue":"4","license":[{"start":{"date-parts":[[2012,1,1]],"date-time":"2012-01-01T00:00:00Z","timestamp":1325376000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,1,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Infants extend their repertoire of behaviours from initially simple behaviours with single objects to complex behaviours dealing with spatial relationships among objects. We are interested in the mechanisms underlying this development in order to achieve similar development in artificial systems. One mechanism is sensorimotor differentiation, which allows one behaviour to become altered in order to achieve a different result; the old behaviour is not forgotten, so differentiation increases the number of available behaviours. Differentiation requires the learning of both sensory abstractions and motor programs for the new behaviour; here we focus only on the sensory aspect: learning to recognise situations in which the new behaviour succeeds. We experimented with learning these situations in a realistic physical simulation of a robotic manipulator interacting with various objects, where the sensor space includes the robot arm position data and a Kinect-based vision system. The mechanism for learning sensory abstractions for a new behaviour is a component in the larger enterprise of building systems which emulate the mechanisms of infant development.<\/jats:p>","DOI":"10.2478\/s13230-013-0104-x","type":"journal-article","created":{"date-parts":[[2013,4,8]],"date-time":"2013-04-08T05:20:45Z","timestamp":1365398445000},"source":"Crossref","is-referenced-by-count":5,"title":["Learning Object Relationships which determine the Outcome of Actions"],"prefix":"10.2478","volume":"3","author":[{"given":"Severin","family":"Fichtl","sequence":"first","affiliation":[]},{"given":"John","family":"Alexander","sequence":"additional","affiliation":[]},{"given":"Dirk","family":"Kraft","sequence":"additional","affiliation":[]},{"given":"Jimmy Alison","family":"J\u00f8rgensen","sequence":"additional","affiliation":[]},{"given":"Norbert","family":"Kr\u00fcger","sequence":"additional","affiliation":[]},{"given":"Frank","family":"Guerin","sequence":"additional","affiliation":[]}],"member":"374","reference":[{"issue":"1","key":"104_CR1","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1109\/TAMD.2012.2209879","volume":"5","author":"F Guerin","year":"2013","unstructured":"Frank Guerin, Dirk Kraft, and Norbert Kr\u00fcger. A survey of the ontogeny of tool use: from sensorimotor experience to planning. IEEE Transactions on Autonomous Mental Development, 5(1):18\u201345, 2013.","journal-title":"IEEE Transactions on Autonomous Mental Development"},{"key":"104_CR2","volume-title":"The Origins of Intelligence in Children","author":"J Piaget","year":"1936","unstructured":"J. Piaget. The Origins of Intelligence in Children. London: Routledge & Kegan Paul, 1936. (French version 1936, translation 1952)."},{"issue":"1","key":"104_CR3","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1111\/1467-8624.00127","volume":"71","author":"J J Lockman","year":"2000","unstructured":"Jeffrey J. Lockman. A perception-action perspective on tool use development. Child Development, 71(1):137\u2013144, 2000.","journal-title":"Child Development"},{"key":"104_CR4","volume-title":"Toward a unified theory of development: Connectionism and dynamic systems theories reconsidered","author":"L B Smith","year":"2009","unstructured":"L. B. Smith. Dynamic systems, sensori-motor processes and the origins of stability and flexibility. In J. Spencer, M. Thomas, and J. McClelland, editors, Toward a unified theory of development: Connectionism and dynamic systems theories reconsidered. Ox. Uni. Press, 2009."},{"issue":"6","key":"104_CR5","doi-asserted-by":"crossref","first-page":"477","DOI":"10.1037\/0033-295X.87.6.477","volume":"87","author":"K W Fischer","year":"1980","unstructured":"Kurt W. Fischer. A theory of cognitive development: The control and construction of hierarchies of skills. Psychological Review, 87(6):477\u2013531, 1980.","journal-title":"Psychological Review"},{"key":"104_CR6","first-page":"23","volume-title":"Children\u2019s Strategies: Contemporary Views of Cognitive Development","author":"P Willatts","year":"1990","unstructured":"P. Willatts. Development of problem-solving strategies in infancy. In D.F. Bjorklund, editor, Children\u2019s Strategies: Contemporary Views of Cognitive Development, pages 23\u201366. Lawrence Erlbaum, 1990."},{"key":"104_CR7","volume-title":"The Construction of Reality in the Child","author":"J Piaget","year":"1937","unstructured":"J. Piaget. The Construction of Reality in the Child. London: Routledge & Kegan Paul, 1937. (French version 1937, translation 1955)."},{"issue":"11","key":"104_CR8","doi-asserted-by":"crossref","first-page":"1328","DOI":"10.1177\/0278364911408155","volume":"30","author":"B Rosman","year":"2011","unstructured":"Benjamin Rosman and Subramanian Ramamoorthy. Learning spatial relationships between objects. The International Journal of Robotics Research, 30(11):1328\u20131342, 2011.","journal-title":"The International Journal of Robotics Research"},{"key":"104_CR9","unstructured":"Richard S. Sutton. Verification, the key to ai, 2006. Unpublished document, available on author\u2019s webpage http:\/\/www.cs.ualberta.ca\/~sutton \/IncIdeas\/KeytoAI.html ."},{"issue":"2","key":"104_CR10","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1109\/TAMD.2009.2029989","volume":"1","author":"A Stoytchev","year":"2009","unstructured":"A. Stoytchev. Some basic principles of developmental robotics. IEEE Trans. Auton. Mental Development, 1(2):122\u2013130, 2009.","journal-title":"IEEE Trans. Auton. Mental Development"},{"issue":"3","key":"104_CR11","doi-asserted-by":"crossref","first-page":"699","DOI":"10.1016\/0003-3472(79)90006-X","volume":"27","author":"E Thelen","year":"1979","unstructured":"Esther Thelen. Rhythmical stereotypies in normal human infants. Animal Behaviour, 27(3):699\u2013715, Dec 1979.","journal-title":"Animal Behaviour"},{"key":"104_CR12","volume-title":"Development in Infancy","author":"T G R Bower","year":"1982","unstructured":"T. G. R. Bower. Development in Infancy. San Francisco: W.H. Freeman, 1982."},{"issue":"3","key":"104_CR13","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1207\/s15327078in0803_3","volume":"8","author":"K S Bourgeois","year":"2005","unstructured":"Kristine S. Bourgeois, Alexa W. Khawar, S. Ashley Neal, and Jeffrey J. Lockman. Infant manual exploration of objects, surfaces, and their interrelations. Infancy, 8(3):233\u2013252, 2005.","journal-title":"Infancy"},{"key":"104_CR14","volume-title":"The Child\u2019s Conception of the World","author":"J Piaget","year":"1929","unstructured":"Jean Piaget. The Child\u2019s Conception of the World. Harcourt, Brace and Co., New York, 1929."},{"key":"104_CR15","volume-title":"PhD Thesis","author":"H Chaput","year":"2004","unstructured":"Harold Chaput. The Constructivist Learning Architecture: A Model of Cognitive Development for Robust Autonomous Robots. PhD Thesis, (The University of Texas at Austin, Artificial Intelligence Laboratory), 2004."},{"key":"104_CR16","volume-title":"Master Thesis","author":"S Fichtl","year":"2011","unstructured":"Severin Fichtl. Making Artificial Intelligence which Copies the Way Babies Learn. Master Thesis, (Aberdeen University, Department of Computing Science), 2011."},{"key":"104_CR17","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/DEVLRN.2011.6037368","volume":"2","author":"M Rolf","year":"2011","unstructured":"M Rolf, J J Steil, and M Gienger. Online Goal Babbling for rapid bootstrapping of inverse models in high dimensions. In Development and Learning (ICDL), 2011 IEEE International Conference on, volume 2, pages 1\u20138, 2011.","journal-title":"Development and Learning (ICDL), 2011 IEEE International Conference on"},{"issue":"10","key":"104_CR18","doi-asserted-by":"crossref","first-page":"1190","DOI":"10.1177\/0278364912452621","volume":"31","author":"G Kootstra","year":"2012","unstructured":"Gert Kootstra, Mila Popovi., Jimmy Alison Jostate spacergensen, Kamil Kuklinski, Konstantsin Miatliuk, Danica Kragic, and Norbert Kr\u00fcger. Enabling grasping of unknown objects through a synergistic use of edge and surface information. Int. J. Rob. Res., 31(10):1190\u20131213, September 2012.","journal-title":"Int. J. Rob. Res."},{"key":"104_CR19","volume-title":"ISR\/ROBOTIK 2010 (41st International Symposium)","author":"J A Jorgensen","year":"2010","unstructured":"J. A. Jorgensen, L.-P. Ellekilde, and H. G. Petersen. Rob-WorkSim \u2014 an Open Simulator for Sensor based Grasping. In ISR\/ROBOTIK 2010 (41st International Symposium). VDE-Verlag, June 2010."},{"key":"104_CR20","first-page":"1","volume-title":"Journal of Real-Time Image Processing","author":"S Olesen","year":"2012","unstructured":"S\u00f8renMaagaard Olesen, Simon Lyder, Dirk Kraft, Norbert Kr\u00fcger, and JeppeBars\u00f8e Jessen. Real-time extraction of surface patches with associated uncertainties by means of Kinect cameras. Journal of Real-Time Image Processing, pages 1\u201314, 2012."},{"issue":"2","key":"104_CR21","doi-asserted-by":"crossref","first-page":"1437","DOI":"10.3390\/s120201437","volume":"12","author":"K Khoshelham","year":"2012","unstructured":"Kourosh Khoshelham and Sander Oude Elberink. Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications. Sensors, 12(2):1437\u20131454, 2012.","journal-title":"Sensors"},{"key":"104_CR22","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/ICRA.2011.5980567","volume-title":"Robotics and Automation (ICRA), 2011 IEEE International Conference on","author":"R B Rusu","year":"2011","unstructured":"R B Rusu and S Cousins. 3D is here: Point Cloud Library (PCL). In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages 1\u20134, May 2011."},{"issue":"3","key":"104_CR23","doi-asserted-by":"crossref","first-page":"379","DOI":"10.1142\/S0219843610002209","volume":"7","author":"N Pugeault","year":"2010","unstructured":"N. Pugeault, F. Worgotter, and N. Kr\u00fcger. Visual primitives: Local, condensed, and semantically rich visual descriptors and their applications in robotics. International Journal of Humanoid Robotics (Special Issue on Cognitive Humanoid Vision), 7(3):379\u2013405, 2010.","journal-title":"International Journal of Humanoid Robotics (Special Issue on Cognitive Humanoid Vision)"},{"key":"104_CR24","volume-title":"Proceedings of the International Symposium on Computer and Information Science VII","author":"M Riedmiller","year":"1992","unstructured":"Martin Riedmiller and Heinrich Braun. RPROP \u2014 A Fast Adaptive Learning Algorithm. In Proceedings of the International Symposium on Computer and Information Science VII, Institut fur Logik, Komplexitat und Deduktionssysteme, Universitat Karlsruhe, 1992."},{"key":"104_CR25","volume-title":"IEEE International Conference on Neural Networks","author":"M Riedmiller","year":"1993","unstructured":"M Riedmiller and H Braun. A direct adaptive method for faster backpropagation learning: the RPROP algorithm. IEEE International Conference on Neural Networks, 1993."},{"key":"104_CR26","doi-asserted-by":"crossref","first-page":"146","DOI":"10.1007\/3-540-62858-4_79","volume-title":"Proceedings of the 9th European Conference on Machine Learning, ECML\u2019 97","author":"M Kubat","year":"1997","unstructured":"Miroslav Kubat, Robert Holte, and Stan Matwin. Learning when negative examples abound. In Proceedings of the 9th European Conference on Machine Learning, ECML\u2019 97, pages 146\u2013153, London, UK, UK, 1997. Springer-Verlag."},{"key":"104_CR27","volume-title":"2nd IEEE International Conference on Development and Learning and Epigenetic Robotics","author":"S Fichtl","year":"2012","unstructured":"Severin Fichtl, John Alexander, Dirk Kraft, Jimmy Alison Jorgensen, Norbert Kr\u00fcger, and Frank Guerin. Rapidly learning reconditions for means-ends behaviour using active learning. In 2nd IEEE International Conference on Development and Learning and Epigenetic Robotics, 2012."},{"key":"104_CR28","first-page":"63","volume-title":"Algorithmic Learning Theory, volume 4264 of Lecture Notes in Computer Science","author":"M Kaariainen","year":"2006","unstructured":"Matti Kaariainen. Active Learning in the Non-realizable Case. In Jose L. Balcazar, Philip M. Long, and Frank Stephan, editors, Algorithmic Learning Theory, volume 4264 of Lecture Notes in Computer Science, pages 63\u201377. Springer Berlin Heidelberg, 2006."},{"issue":"2","key":"104_CR29","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1145\/1008328.1008329","volume":"8","author":"D E Knuth","year":"1976","unstructured":"Donald E Knuth. Big Omicron and big Omega and big Theta. SIGACT News, 8(2):18\u201324, April 1976.","journal-title":"SIGACT News"},{"key":"104_CR30","volume-title":"Course Paper, Columbia University","author":"S Stolbach","year":"2007","unstructured":"Sara Stolbach. Active Learning Models and Noise. Course Paper, Columbia University, (Advanced Topics in Computational Learning Theory, COMS 6253), 2007."},{"key":"104_CR31","volume-title":"Assessment in infancy: ordinal scales of psychological development","author":"I C Uzgiris","year":"1975","unstructured":"Ina C. Uzgiris and J. McV. Hunt. Assessment in infancy: ordinal scales of psychological development. University of Illinois Press, 1975."},{"issue":"2","key":"104_CR32","first-page":"181","volume":"3","author":"E Bates","year":"1980","unstructured":"E. Bates, V. Carlson-Luden, and I. Bretherton. Perceptual aspects of tool-using in infancy. Infant Behavior and Development, 3(2):181\u2013190, 1980.","journal-title":"Infant Behavior and Development"},{"issue":"2","key":"104_CR33","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1111\/1467-7687.00068","volume":"2","author":"M Schlesinger","year":"1999","unstructured":"Matthew Schlesinger and Jonas Langer. Infants\u2019 developing expectations of possible and impossible tool-use events between ages 8 and 12 months. Developmental Science, 2(2):195\u2013205, 1999.","journal-title":"Developmental Science"},{"key":"104_CR34","volume-title":"The Cradle of Knowledge","author":"PJ Kellman","year":"1998","unstructured":"P.J. Kellman and M.E. Arterberry. The Cradle of Knowledge. MIT-Press, 1998."},{"issue":"4","key":"104_CR35","doi-asserted-by":"crossref","first-page":"587","DOI":"10.1037\/0033-295X.99.4.587","volume":"99","author":"J M Mandler","year":"1992","unstructured":"J. M. Mandler. How to build a baby: II. conceptual primitives. Psychological Review, 99(4):587\u2013604, 1992.","journal-title":"Psychological Review"},{"issue":"5","key":"104_CR36","doi-asserted-by":"crossref","first-page":"696","DOI":"10.1002\/wcs.67","volume":"1","author":"D Mareschal","year":"2010","unstructured":"Denis Mareschal. Computational perspectives on cognitive development. Wiley Interdisciplinary Reviews: Cognitive Science, 1(5):696\u2013708, 2010.","journal-title":"Wiley Interdisciplinary Reviews: Cognitive Science"},{"key":"104_CR37","volume-title":"2nd IEEE International Conference on Development and Learning and Epigenetic Robotics","author":"P Tommasino","year":"2012","unstructured":"Paolo Tommasino, Daniele Caligiore, Marco Mirolli, and Gianluca Baldassarre. Reinforcement learning algorithms that assimilate and accommodate behaviours: an experimental comparison. In 2nd IEEE International Conference on Development and Learning and Epigenetic Robotics, 2012."},{"key":"104_CR38","doi-asserted-by":"crossref","first-page":"190","DOI":"10.1037\/a0030852","volume":"120","author":"AGE Collins","year":"2013","unstructured":"A.G.E. Collins and M.J. Frank. Cognitive control over learning: Creating, clustering and generalizing task-set structure. Psychological Review, 120:190\u2013229, 2013.","journal-title":"Psychological Review"},{"issue":"2","key":"104_CR39","first-page":"73","volume":"24","author":"T Zimmerman","year":"2003","unstructured":"Terry Zimmerman and Subbarao Kambhampati. Learning-assisted automated planning: Looking back, taking stock, going forward. AI MAGAZINE, 24(2):73\u201396, 2003.","journal-title":"AI MAGAZINE"},{"issue":"1","key":"104_CR40","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1109\/TAMD.2011.2160943","volume":"4","author":"J Mugan","year":"2012","unstructured":"J. Mugan and B. Kuipers. Autonomous learning of high-level states and actions in continuous environments. IEEE Trans. Autonomous Mental Development, 4(1):70\u201386, 2012.","journal-title":"IEEE Trans. Autonomous Mental Development"},{"key":"104_CR41","first-page":"45","volume-title":"International Conference on Cognitive Systems (CogSys 2008)","author":"K Mourao","year":"2008","unstructured":"Kira Mourao, Ronald Petrick, and Mark Steedman. Using kernel perceptrons to learn action effects for planning. International Conference on Cognitive Systems (CogSys 2008), pages 45\u201350, 2008."},{"key":"104_CR42","volume-title":"Goal emulation and planning in perceptual space using learned affordances","author":"E Ugur","year":"2011","unstructured":"E. Ugur, E. Oztop, and E. Sahin. Goal emulation and planning in perceptual space using learned affordances, 2011."},{"issue":"2","key":"104_CR43","doi-asserted-by":"crossref","first-page":"472","DOI":"10.1111\/j.1467-8624.2009.01408.x","volume":"81","author":"A Ferry","year":"2010","unstructured":"A. Ferry, S.J. Hespos, and S. Waxman. Language facilitates category formation in 3-month-old infants. Child Development, 81(2):472\u2013479, 2010.","journal-title":"Child Development"},{"issue":"1","key":"104_CR44","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1111\/j.1467-7687.2008.00749.x","volume":"12","author":"S J Hespos","year":"2009","unstructured":"S. J. Hespos and T. Piccin. To generalize or not to generalize: Spatial categories are influenced by physical attributes and language. Developmental Science, 12(1):88\u201395, 2009.","journal-title":"Developmental Science"},{"issue":"1","key":"104_CR45","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1037\/0012-1649.41.1.183","volume":"41","author":"M Casasola","year":"2005","unstructured":"Marianella Casasola. Can language do the driving? the effect of linguistic input on infants\u2019 categorization of support spatial relations. Developmental Psychology, 41(1):183\u2013192, 2005.","journal-title":"Developmental Psychology"},{"issue":"1","key":"104_CR46","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1017\/S0305000905007257","volume":"33","author":"K J Rohlfing","year":"2006","unstructured":"Katharina J Rohlfing. Facilitating the acquisition of under by means of in and on.a training study in polish. J Child Lang, 33(1):51\u201369, 2006.","journal-title":"J Child Lang"},{"issue":"3","key":"104_CR47","doi-asserted-by":"crossref","first-page":"273","DOI":"10.1016\/0885-2014(92)90016-K","volume":"7","author":"J M Mandler","year":"1992","unstructured":"Jean Matter Mandler. The foundations of conceptual thought in infancy. Cognitive Development, 7(3):273\u2013285, 1992.","journal-title":"Cognitive Development"}],"container-title":["Paladyn, Journal of Behavioral Robotics"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.2478\/s13230-013-0104-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.2478\/s13230-013-0104-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.2478\/s13230-013-0104-x","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,2,28]],"date-time":"2021-02-28T16:13:49Z","timestamp":1614528829000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.2478\/s13230-013-0104-x\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,1,1]]},"references-count":47,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.2478\/s13230-013-0104-x","relation":{},"ISSN":["2081-4836"],"issn-type":[{"value":"2081-4836","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,1,1]]}}}