Joseph Modayil and Benjamin Kuipers. 2008
The initial development of object knowledge by a learning robot.
Robotics and Autonomous Systems. Volume 56, Issue 11, Nov 2008, pages 879--890


We describe how a robot can develop knowledge of the objects in its environment directly from unsupervised sensorimotor experience. The object knowledge consists of multiple integrated representations: trackers that form spatio-temporal clusters of sensory experience, percepts that represent properties for the tracked objects, classes that support efficient generalization from past experience, and actions that reliably change object percepts. We evaluate how well this intrinsically acquired object knowledge can be used to solve externally specified tasks including object recognition and achieving goals that require both planning and continuous control.