SEDRo: A Simulated environment for Developmental Robotics

Abstract

Even with impressive advances in application specific models, we still lack knowledge about how to build a model that can learn in a human-like way and do multiple tasks. To learn in a human-like way, we need to provide a diverse experience that is comparable to human’s. In this paper, we introduce our ongoing effort to build a simulated environment for developmental robotics (SEDRo). SEDRo provides diverse human experiences ranging from those of a fetus to a 12th month old. A series of simulated tests based on developmental psychology will be used to evaluate the progress of a learning model. We anticipate SEDRo to lower the cost of entry and facilitate research in the developmental robotics community.

Type
Preprints
Publication
Arxiv
Date
Links
Preprint PDF Code Project

Example evaluation methods for non-verbal infants and simulated experiments for the artificial agent. (a) An experiment set up to examine visual pattern according to the stimulus. A baby views a series of visual stimuli at two or more locations. Visual patterns, such as looking time and looking preference,of the baby are then analyzed. Depending on the developmental stage, they tend to attend more at novel things. (b) For example, we can examine if the baby can differentiate between male and female faces. © When newborn infants, under three months of age, see a rod moving behind a box, they will perceive it as two rods. However, babies, past four months of age, perceive it as a single rod and will be surprised when they are shown two rods. (e) In our simulated environment, we model eye gaze and central vision. (f) The focused area gives a clear view, while peripheral vision gives a blurred image. (g) Simulated object unity-perception task (h) Test for innate physics.

HLAI env