?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Emergence+and+Categorization+of+Coordinated+Visual+Behavior+Through+Embodied+Interaction&rft.creator=Berthouze%2C+Luc&rft.creator=Kuniyoshi%2C+Yasuo&rft.subject=Artificial+Intelligence&rft.subject=Machine+Learning&rft.subject=Robotics&rft.description=This+paper+discusses+the+emergence+of+sensorimotor+coordination+for+ESCHeR%2C+a+4DOF+redundant+foveated+robot-head%2C+by+interaction+with+its+environment.+A+feedback-error-learning(FEL)-based+distributed+control+provides+the+system+with++explorative+abilities+with+reflexes+constraining+the+learning+space.+A+Kohonen+network%2C+trained+at+run-time%2C+categorizes+the+sensorimotor+patterns+obtained+over+ESCHeR's+interaction+with+its+environment%2C+enables+the+reinforcement+of+frequently+executed+actions%2C+thus+stabilizing+the+learning+activity+over+time.+We+explain+how+the+development+of+ESCHeR's+visual+abilities+(namely+gaze+fixation+and+saccadic+motion)%2C+from+a+context-free+reflex-based+control+process+to+a+context-dependent%2C+pattern-based+sensorimotor+coordination+can+be+related+to+the+Piagetian+'stage+theory'.&rft.publisher=Kuwer+Academic&rft.contributor=Hexmoor%2C+Henry&rft.contributor=Mataric%2C+Maja+J.&rft.date=1998-05&rft.type=Journal+(On-line%2FUnpaginated)&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F1496%2F3%2Fmlar.pdf&rft.identifier=++Berthouze%2C+Luc+and+Kuniyoshi%2C+Yasuo++(1998)+Emergence+and+Categorization+of+Coordinated+Visual+Behavior+Through+Embodied+Interaction.++%5BJournal+(On-line%2FUnpaginated)%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F1496%2F