Mastering Growth while Bootstrapping Sensorimotor Coordination

摘要

The bodily change in infancy due to growth is a fundamental challenge for the bootstrapping of sensorimotor coordination. We argue that learning by doing, and thus a babbling of goals instead of motor commands provides an appealing explanation for the success of infants in that bootstrapping. We show that Goal Babbling allows to bootstrap reaching skills during different growth patterns on a robot arm with five degrees of freedom and on the infant like humanoid iCub.