Kaplan, F. and Hafner, V.V. Mapping the space of skills: An approach for comparing embodied sensorimotor organizations. Proceedings of the 4th IEEE International Conference on Development and Learning (ICDL-05), pages 129-134, 2005 IEEE.

Sony CSL authors: Verena Hafner, Frédéric Kaplan

Abstract

This article presents a mathematical framework based on information theory to compare temporally-extended embodied sensorimotor organizations. Central to this approach is the notion of configuration: a set of distances between information sources, statistically evaluated for a given time span. Because information distances capture simultaneously effects of physical closeness, intermodality, functional relationship and external couplings, a configuration characterizes an embodied interaction with a particular environment. In this approach, collections of skills can be mapped in a unified space as configurations of configurations. This article describes these different abstractions in a formal manner and presents results of preliminary experiments showing how this framework can be used to capture the behavioral organization of an autonomous robot.

Keywords: information theory, analogy, skills

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BibTeX entry

@INPROCEEDINGS { kaplan:05d, AUTHOR="Kaplan, F. and Hafner, V.V.", BOOKTITLE="Proceedings of the 4th IEEE International Conference on Development and Learning (ICDL-05)", PAGES="129--134", PUBLISHER="IEEE", TITLE="Mapping the space of skills: An approach for comparing embodied sensorimotor organizations", YEAR="2005", }