Problem solving through imitation

摘要

This paper presents an approach to problem solving through imitation. It introduces the Statistical and Temporal Percept Action Coupling (ST-PAC) System which statistically models the dependency between the perceptual state of the world and the resulting actions that this state should elicit. The ST-PAC system stores a sparse set of experiences provided by a teacher. These memories are stored to allow efficient recall and generalisation over novel systems states. Random exploration is also used as a fall-back “brute-force” mechanism should a recalled experience fail to solve a scenario. Statistical models are used to couple groups of percepts with similar actions and incremental learning used to incorporate new experiences into the system. The system is demonstrated within the problem domain of a children’s shape sorter puzzle. The ST-PAC system provides an emergent architecture where competence is implicitly encoded within the system. In order to train and evaluate such emergent architectures, the concept of the Complexity Chain is proposed. The Complexity Chain allows efficient structured learning in a similar fashion to that used in biological system and can also be used as a method for evaluating a cognitive system’s performance. Tests demonstrating the Complexity Chain in learning are shown in both simulated and live environments. Experimental results show that the proposed methods allowed for good generalisation and concept refinement from an initial set of sparse examples provided by a tutor.