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GOAL-Robots SIGNED

Goal-based Open-ended Autonomous Learning Robots

Total Cost €

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EC-Contrib. €

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Partnership

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Project "GOAL-Robots" data sheet

The following table provides information about the project.

Coordinator
CONSIGLIO NAZIONALE DELLE RICERCHE 

Organization address
address: PIAZZALE ALDO MORO 7
city: ROMA
postcode: 185
website: www.cnr.it

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Italy [IT]
 Project website http://www.goal-robots.eu
 Total cost 3˙481˙875 €
 EC max contribution 3˙481˙874 € (100%)
 Programme 1. H2020-EU.1.2.1. (FET Open)
 Code Call H2020-FETOPEN-2014-2015-RIA
 Funding Scheme RIA
 Starting year 2016
 Duration (year-month-day) from 2016-11-01   to  2020-10-31

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    CONSIGLIO NAZIONALE DELLE RICERCHE IT (ROMA) coordinator 1˙278˙708.00
2    TECHNISCHE UNIVERSITAT DARMSTADT DE (DARMSTADT) participant 938˙125.00
3    STIFTUNG FRANKFURT INSTITUTE FOR ADVANCED STUDIES DE (FRANKFURT AM MAIN) participant 709˙875.00
4    UNIVERSITE DE PARIS FR (PARIS) participant 555˙166.00
5    UNIVERSITE PARIS DESCARTES FR (PARIS CEDEX 06) participant 0.00

Map

 Project objective

This project aims to develop a new paradigm to build open-ended learning robots called `Goal-based Open-ended Autonomous Learning' (GOAL). GOAL rests upon two key insights. First, to exhibit an autonomous open-ended learning process, robots should be able to self-generate goals, and hence tasks to practice. Second, new learning algorithms can leverage self-generated goals to dramatically accelerate skill learning. The new paradigm will allow robots to acquire a large repertoire of flexible skills in conditions unforeseeable at design time with little human intervention, and then to exploit these skills to efficiently solve new user-defined tasks with no/little additional learning. This innovation will be essential in the design of future service robots addressing pressing societal needs. The project will develop the GOAL paradigm by pursuing three main objectives: (1) advance our understanding of how goals are formed and underlie skill learning in children; (2) develop innovative computational architectures and algorithms supporting (2a) the self-generation of useful goals based on user/task independent mechanisms such as intrinsic motivations, and (2b) the use of such goals to efficiently and autonomously build large repertoires of skills; (3) demonstrate the potential of GOAL with a series of increasingly challenging demonstrators in which robots will autonomously develop complex skills and use them to solve difficult challenges in real-life scenarios. The interdisciplinary project consortium is formed by leading international roboticists, computational modelers, and developmental psychologists working with complementary approaches. This will allow the project to greatly advance our understanding of the fundamental principles of open-ended learning and to produce a breakthrough in the field of autonomous robotics by producing for the first time robots that can autonomously accumulate complex skills and knowledge in a truly open-ended way.

 Deliverables

List of deliverables.
Goal-based skill learning: first results Documents, reports 2020-02-25 14:47:52
Scientific publications and conferences Documents, reports 2020-02-25 14:47:47
GOAL1 Demonstrator Demonstrators, pilots, prototypes 2020-02-25 14:47:48
GOAL in infants and its models: first results Documents, reports 2020-02-25 14:47:47
First ethical implications workshop Other 2020-02-25 14:47:47
Self goal-generation: first results Documents, reports 2020-02-25 14:47:48
Action Check Meeting 1 Documents, reports 2020-02-25 14:47:47
Science communication Websites, patent fillings, videos etc. 2020-02-25 14:47:45
Dissemination and Exploitation Plan: first version Documents, reports 2020-02-25 14:47:47
Plan for Open Data Pilot: first version Open Research Data Pilot 2020-02-25 14:47:45
Project web-site and logo Websites, patent fillings, videos etc. 2020-02-25 14:47:45
First open-ended learning competition Other 2020-02-25 14:47:51
Industry fair: first participation Other 2020-02-25 14:47:52
Action Check Meeting 2 Documents, reports 2020-02-25 14:47:52
Plan for Open Data Pilot: second version Open Research Data Pilot 2020-02-25 14:47:52
GOAL2 Demonstrator Demonstrators, pilots, prototypes 2020-02-25 14:47:52
International Summer School Other 2020-02-25 14:47:53
Dissemination and Exploitation Plan: second version Documents, reports 2020-02-25 14:47:52
Professional video on GOAL2 Demo Websites, patent fillings, videos etc. 2020-02-25 14:47:52

Take a look to the deliverables list in detail:  detailed list of GOAL-Robots deliverables.

 Publications

year authors and title journal last update
List of publications.
2018 Lakshitha P. Wijesinghe, Jochen Triesch, Bertram E. Shi
Robot End Effector Tracking Using Predictive Multisensory Integration
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00066
Frontiers in Neurorobotics 12 2020-02-25
2019 Alexander Lelais, Jonas Mahn, Vikram Narayan, Chong Zhang, Bertram E. Shi, Jochen Triesch
Autonomous Development of Active Binocular and Motion Vision Through Active Efficient Coding
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2019.00049
Frontiers in Neurorobotics 13 2020-02-25
2019 Ernst, Markus Roland and Triesch, Jochen and Burwick, Thomas
Recurrent Connectivity Aids Recognition of Partly Occluded Objects
published pages: , ISSN: , DOI:
arXiv 2020-02-25
2018 A. Šošić, E. Rueckert, J. Peters, A. M. Zoubir, H. Koeppl
Inverse reinforcement learning via nonparametric spatio-temporal subgoal modeling
published pages: , ISSN: 1532-4435, DOI:
The Journal of Machine Learning Research 2020-02-25
2019 Santucci V. G., Baldassarre G. and Cartoni E.
Autonomous Reinforcement Learning of Multiple Interrelated Tasks
published pages: , ISSN: , DOI:
arXiv 2020-02-25
2019 V.G. Santucci, E. Cartoni, B. Castro da Silva, G. Baldassarre
Autonomous Open-Ended Learning of Interdependent Tasks
published pages: , ISSN: , DOI:
2020-02-25
2018 K.D. Gondaliya, J. Peters, E. Rueckert
Learning to Categorize Bug Reports with LSTM Networks
published pages: , ISSN: , DOI:
International Conference on Advances in System Testing and Validation Lifecycle 2020-02-25
2018 E. Cartoni, G. Baldassarre
Autonomous discovery of the goal space to learn a parameterized skill
published pages: , ISSN: , DOI:
2020-02-25
2019 de La Bourdonnaye , François; Teulière , Céline; Triesch , Jochen; Chateau , Thierry
Learning to touch objects through stage-wise deep reinforcement learning
published pages: , ISSN: , DOI:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 1 2020-02-25
2019 Daniele Caligiore, Magda Mustile, Alissa Fineschi, Laura Romano, Fabrizio Piras, Francesca Assogna, Francesco E. Pontieri, Gianfranco Spalletta, Gianluca Baldassarre
Action Observation With Dual Task for Improving Cognitive Abilities in Parkinson’s Disease: A Pilot Study
published pages: , ISSN: 1662-5137, DOI: 10.3389/fnsys.2019.00007
Frontiers in Systems Neuroscience 13 2020-02-25
2017 Daniele Caligiore, Francesco Mannella, Michael A. Arbib, Gianluca Baldassarre
Dysfunctions of the basal ganglia-cerebellar-thalamo-cortical system produce motor tics in Tourette syndrome
published pages: e1005395, ISSN: 1553-7358, DOI: 10.1371/journal.pcbi.1005395
PLOS Computational Biology 13/3 2020-02-25
2019 Paolo Tommasino, Daniele Caligiore, Marco Mirolli, Gianluca Baldassarre
A Reinforcement Learning Architecture that Transfers Knowledge between Skills when Solving Multiple Tasks
published pages: 1-1, ISSN: 2379-8920, DOI: 10.1109/tcds.2016.2607018
IEEE Transactions on Cognitive and Developmental Systems 2020-02-25
2019 D. Caligiore, G. Baldassarre
The development of reaching and grasping: towards an integrated framework based on a critical review of computational and robotic models
published pages: , ISSN: , DOI:
2020-02-25
2018 François de La Bourdonnaye, Céline Teulière, Jochen Triesch, Thierry Chateau
Stage-Wise Learning of Reaching Using Little Prior Knowledge
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2018.00110
Frontiers in Robotics and AI 5 2020-02-25
2018 Jaqueline Fagard, Rana Esseily, Lisa Jacquey, Kevin O’Regan, Eszter Somogyi
Fetal Origin of Sensorimotor Behavior
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00023
Frontiers in Neurorobotics 12 2020-02-25
2019 Daniel Tanneberg, Jan Peters, Elmar Rueckert
Intrinsic motivation and mental replay enable efficient online adaptation in stochastic recurrent networks
published pages: 67-80, ISSN: 0893-6080, DOI: 10.1016/j.neunet.2018.10.005
Neural Networks 109 2020-02-25
2019 Valerio Sperati, Beste Özcan, Laura Romano, Simone Scaffaro, Tania Moretta, Giada Turturo, Maria Nicoletta Aliberti, Vincenzo Guidetti, Gianluca Baldassarre
Acceptability of the Transitional Wearable Companion “+me” in Typical Children: A Pilot Study
published pages: , ISSN: 1664-1078, DOI: 10.3389/fpsyg.2019.00125
Frontiers in Psychology 10 2020-02-25
2018 G. Baldassarre, F. Mannella, V.G. Santucci,E. Somogyi, L. Jacquey, M. Hamilton, J.K. O’Regan
Action-outcome contingencies as the engine of open-ended learning: computational models and developmental experiments
published pages: , ISSN: , DOI:
Proceedings of The 8th IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob2018) 2020-02-25
2018 Valerio Sperati, Gianluca Baldassarre
Bio-Inspired Model Learning Visual Goals and Attention Skills Through Contingencies and Intrinsic Motivations
published pages: 326-344, ISSN: 2379-8920, DOI: 10.1109/tcds.2017.2772908
IEEE Transactions on Cognitive and Developmental Systems 10/2 2020-02-25
2017 Daniele Caligiore, Magda Mustile, Gianfranco Spalletta, Gianluca Baldassarre
Action observation and motor imagery for rehabilitation in Parkinson\'s disease: A systematic review and an integrative hypothesis
published pages: 210-222, ISSN: 0149-7634, DOI: 10.1016/j.neubiorev.2016.11.005
Neuroscience & Biobehavioral Reviews 72 2020-02-25
2017 Tanneberg D., Peters J., Rueckert E.
Efficient Online Adaptation with Stochastic Recurrent Neural Networks
published pages: , ISSN: , DOI:
Proceedings of the International Conference on Humanoid Robots (HUMANOIDS) 2020-02-25
2017 Thiem S., Stark S., Tanneberg D., Peters J., Rueckert E.
Simulation of the underactuated Sake Robotics Gripper in V-REP
published pages: , ISSN: , DOI:
Workshop at the International Conference on Humanoid Robots (HUMANOIDS) 2020-02-25
2017 Stark S., Peters J., Rueckert E.
A Comparison of Distance Measures for Learning Nonparametric Motor Skill Libraries
published pages: , ISSN: , DOI:
Proceedings of the International Conference on Humanoid Robots (HUMANOIDS) 2020-02-25
2017 Gianluca Baldassarre, Vieri Giuliano Santucci, Emilio Cartoni, Daniele Caligiore
The architecture challenge: Future artificial-intelligence systems will require sophisticated architectures, and knowledge of the brain might guide their construction
published pages: , ISSN: 0140-525X, DOI: 10.1017/S0140525X17000036
Behavioral and Brain Sciences 40 2020-02-25
2017 Tanneberg D., Peters J., Rueckert E.
Online Learning with Stochastic Recurrent Neural Networks using Intrinsic Motivation Signals
published pages: , ISSN: , DOI:
Proceedings of Machine Learning Research: Conference on Robot Learning (CoRL) 2020-02-25
2017 Lukas Klimmasch, Alexander Lelais, Alexander Lichtenstein, Bertram Emil Shi, Jochen Triesch
Learning of Active Binocular Vision in a Biomechanical Model of the Oculomotor System
published pages: , ISSN: , DOI:
Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2017 Joint IEEE International Conference on 2020-02-25
2018 Mannella, F., Santucci, V.G., Somogyi, E., Jacquey, L., O’Regan, K.J., & Baldassarre, G.
Know your body through intrinsic goals
published pages: , ISSN: 1662-5218, DOI:
Frontiers in Neurorobotics 2020-02-25
2017 Kristsana Seepanomwan, Vieri Giuliano Santucci, Gianluca, Baldassarre
Intrinsically Motivated Discovered Outcomes Boost User’s Goals Achievement in a Humanoid Robot
published pages: , ISSN: , DOI:
Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2017 Joint IEEE International Conference on 2020-02-25
2017 Eszter Somogyi, Lisa Jacquey, Tobias Heed, Matej Hoffmann, Jeffrey J. Lockman, Lionel Granjon, Jacqueline Fagard, J. Kevin O\'Regan
Which limb is it? Responses to vibrotactile stimulation in early infancy
published pages: , ISSN: 0261-510X, DOI: 10.1111/bjdp.12224
British Journal of Developmental Psychology 2020-02-25
2017 Daniele Caligiore, Vieri Giuliano Santucci, Gianluca Baldassarre
Workshop On Ethical Issues of Open Ended-Learning in Autonomous Robots
published pages: , ISSN: , DOI:
Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2017 Joint IEEE International Conference on 2020-02-25
2017 Rueckert E., Nakatenus M., Tosatto S., Peters, J
Learning Inverse Dynamics Models in O(n) time with LSTM networks
published pages: , ISSN: , DOI:
Proceedings of the International Conference on Humanoid Robots (HUMANOIDS) 2020-02-25

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