Motivational Engine with Sub-goal Identification in Neuroevolution Based Cognitive Robotics
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- Salgado R., Prieto A., Caamaño P., Bellas F., Duro R.J. (2016) Motivational Engine with Sub-goal Identification in Neuroevolution Based Cognitive Robotics. In: Martínez-Álvarez F., Troncoso A., Quintián H., Corchado E. (eds) Hybrid Artificial Intelligent Systems. HAIS 2016. Lecture Notes in Computer Science, vol 9648. Springer, Cham
A first approach towards a new motivational system for an autonomous robot that can learn chains of sub-goals leading to a final reward is proposed in this paper. The motivational system provides the motivation that guides the robot operation according to its knowledge of its sensorial space so that rewards are maximized during its lifetime. In order to do this, a motivational engine progressively and interactively creates an internal model of expected future reward (value function) for areas of the robot’s state space, through a neuroevolutionary process, over samples obtained in the sensorial (state space) traces followed by the robot whenever it obtained a reward. To improve this modelling process, a strategy is proposed to decompose the global value function leading to the reward or goal into several more local ones, thus discovering sub-goals that simplify the whole learning process and that can be reused in the future. The motivational engine is tested in a simulated experiment with very promising results.