- Rolf, M., and M. Asada, "Autonomous Development of Goals: From Generic Rewards to Goal and Self Detection", IEEE Int. Conf. Development and Learning and on Epigenetic Robotics, Genoa, 10/2014. (in press)
Abstract — Goals are abstractions that express agents’ intention and allow them to organize their behavior appropriately. How can agents develop such goals autonomously? This paper proposes a conceptual and computational account to this longstanding problem. We argue to consider goals as abstractions of lower-level intention mechanisms such as rewards and values, and point out that goals need to be considered alongside with a detection of the own actions’ effects. Then, both goals and self-detection can be learned from generic rewards. We show experimentally that task-unspecific rewards induced by visual saliency lead to self and goal representations that constitute goal-directed reaching.In the following weeks I will detail some of the paper's main points here. Stay tuned!