?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Intrinsic+Motivation+Systems+for+Autonomous+Mental+Development&rft.creator=Oudeyer%2C+Pierre-Yves&rft.creator=Kaplan%2C+Fr%C3%A9d%C3%A9ric&rft.creator=Hafner%2C+V%C3%A9r%C3%A9na&rft.subject=Dynamical+Systems&rft.subject=Developmental+Psychology&rft.subject=Artificial+Intelligence&rft.subject=Robotics&rft.description=Exploratory+activities+seem+to+be+intrinsically+rewarding%0Afor+children+and+crucial+for+their+cognitive+development.%0ACan+a+machine+be+endowed+with+such+an+intrinsic+motivation%0Asystem%3F+This+is+the+question+we+study+in+this+paper%2C+presenting+a+number+of+computational+systems+that+try+to+capture+this+drive+towards+novel+or+curious+situations.+After+discussing+related+research+coming+from+developmental+psychology%2C+neuroscience%2C+developmental+robotics%2C+and+active+learning%2C+this+paper+presents+the+mechanism+of+Intelligent+Adaptive+Curiosity%2C+an+intrinsic+motivation+system+which+pushes+a+robot+towards+situations+in+which+it+maximizes+its+learning+progress.+This+drive+makes+the+robot+focus+on+situations+which+are+neither+too+predictable+nor+too+unpredictable%2C+thus+permitting+autonomous+mental+development.The+complexity+of+the+robot%E2%80%99s+activities+autonomously+increases+and+complex+developmental+sequences+self-organize+without+being+constructed+in+a+supervised+manner.+Two+experiments+are+presented+illustrating+the+stage-like+organization+emerging+with+this+mechanism.+In+one+of+them%2C+a+physical+robot+is+placed+on+a+baby+play+mat+with+objects+that+it+can+learn+to+manipulate.+Experimental+results+show+that+the+robot+first+spends+time+in+situations%0Awhich+are+easy+to+learn%2C+then+shifts+its+attention+progressively+to+situations+of+increasing+difficulty%2C+avoiding+situations+in+which+nothing+can+be+learned.+Finally%2C+these+various+results+are+discussed+in+relation+to+more+complex+forms+of+behavioral+organization+and+data+coming+from+developmental+psychology.%0AKey+words%3A+Active+learning%2C+autonomy%2C+behavior%2C+complexity%2C%0Acuriosity%2C+development%2C+developmental+trajectory%2C+epigenetic%0Arobotics%2C+intrinsic+motivation%2C+learning%2C+reinforcement+learning%2C%0Avalues.%0A&rft.date=2007&rft.type=Journal+(Paginated)&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F5473%2F1%2Fims.pdf&rft.identifier=++Oudeyer%2C+Pierre-Yves+and+Kaplan%2C+Fr%C3%A9d%C3%A9ric+and+Hafner%2C+V%C3%A9r%C3%A9na++(2007)+Intrinsic+Motivation+Systems+for+Autonomous+Mental+Development.++%5BJournal+(Paginated)%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F5473%2F