An Adaptive Robot Motivational System

We present a robot motivational system design framework The framework represents the underlying (possibly conflicting) goals of the robot as a set of drives, while ensuring comparable drive levels and providing a mechanism for drive priority adaptation during the robot's lifetime The resulting drive reward signals are compatible with existing reinforcement learning methods for balancing multiple reward functions We illustrate the framework with an experiment that demonstrates some of its benefits.

[1]  David Elkind,et al.  Learning: An Introduction , 1968 .

[2]  Jean-Arcady Meyer,et al.  From Animals to Animats: Proceedings of The First International Conference on Simulation of Adaptive Behavior (Complex Adaptive Systems) , 1990 .

[3]  Rodney A. Brooks,et al.  The role of learning in autonomous robots , 1991, COLT '91.

[4]  Jean-Arcady Meyer,et al.  From Animals to Animats: Proceedings of the International Conference on Simulation of Adaptive Behavior (1st) Held in Paris, France on 24-28 September 1990 , 1991 .

[5]  J. R. P. Halperin,et al.  Machine motivation , 1991 .

[6]  Sridhar Mahadevan,et al.  Robot Learning , 1993 .

[7]  Jonas Karlsson,et al.  Learning Multiple Goal Behavior via Task Decomposition and Dynamic Policy Merging , 1993 .

[8]  D. McFarland,et al.  Intelligent behavior in animals and robots , 1993 .

[9]  Hugues Bersini.  Reinforcement learning for homeostatic endogenous variables , 1994 .

[10]  Pattie Maes,et al.  No Bad Dogs: Ethological Lessons for Learning in Hamsterdam , 1996 .

[11]  Maja J. Matarić,et al.  Action Selection methods using Reinforcement Learning , 1996 .

[12]  Spier,et al.  Possibly optimal decision-making under self-sufficiency and autonomy , 1997, Journal of theoretical biology.

[13]  Dolores Cañamero,et al.  Modeling motivations and emotions as a basis for intelligent behavior , 1997, AGENTS '97.

[14]  E. Spier.  From Reactive Behaviour to Adaptive Behaviour: Motivational Models for Behaviour in Animals and Robo , 1997 .

[15]  Richard S. Sutton,et al.  Introduction to Reinforcement Learning , 1998 .

[16]  Tony Savage,et al.  Artificial motives: A review of motivation in artificial creatures , 2000, Connect. Sci..

[17]  Gillian M. Hayes,et al.  Motivation-driven learning of object a ordances: First experiments using a simulated khepera robot , 2003 .

[18]  Dana H. Ballard,et al.  Multiple-Goal Reinforcement Learning with Modular Sarsa(0) , 2003, IJCAI.

[19]  Gillian M. Hayes,et al.  Anticipatory Learning for Focusing Search in Reinforcement Learning Agents , 2004 .

[20]  Aude Billard,et al.  Estimating Future Reward in Reinforcement Learning Animats using Associative Learning , 2004 .

[21]  Kenji Doya,et al.  The Cyber Rodent Project: Exploration of Adaptive Mechanisms for Self-Preservation and Self-Reproduction , 2005, Adapt. Behav..

[22]  Richard S. Sutton,et al.  Reinforcement Learning: An Introduction , 1998, IEEE Trans. Neural Networks.

[23]  G. Konidaris,et al.  Behavior-Based Reinforcement Learning , 2022 .