Category-Based Intrinsic Motivation

Document Type

Conference Proceeding

Publication Date


Published In

Proceedings Of The Ninth International Conference On Epigenetic Robotics: Modeling Cognitive Development In Robotic Systems

Series Title

Lund University Cognitive Studies


A goal of epigenetic robotics is to design a control architecture that implements an ongoing, autonomous developmental process which is unsupervised, unscheduled, and task-independent. The developmental process we are currently exploring contains three essential mechanisms: categorization, prediction, and intrinsic motivation. In this paper we describe a hybrid approach that uses Growing Neural Gas for categorization, neural networks for prediction, and Intelligent Adaptive Curiosity for intrinsic motivation. We apply this system to a physical robot operating in a dynamic visual environment and analyze the types of categories it forms.


L. Cañamero, P.-Y. Oudeyer, and C. Balkenius


9th International Conference On Epigenetic Robotics

Conference Dates

November 12-14, 2009

Conference Location

Venice, Italy


The proceedings for this conference are also freely available in their entirety.