On the Origins of Self-Modeling

• URL: http://arxiv.org/abs/2209.02010v1
• Date: Mon, 5 Sep 2022 15:27:04 GMT
• Title: On the Origins of Self-Modeling
• Authors: Robert Kwiatkowski, Yuhang Hu, Boyuan Chen, Hod Lipson
• Abstract summary: Self-Modeling is the process by which an agent, such as an animal or machine, learns to create a predictive model of its own dynamics. Here, we quantify the benefits of such self-modeling against the complexity of the robot.
• Score: 27.888203008100113
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Self-Modeling is the process by which an agent, such as an animal or machine, learns to create a predictive model of its own dynamics. Once captured, this self-model can then allow the agent to plan and evaluate various potential behaviors internally using the self-model, rather than using costly physical experimentation. Here, we quantify the benefits of such self-modeling against the complexity of the robot. We find a R2 =0.90 correlation between the number of degrees of freedom a robot has, and the added value of self-modeling as compared to a direct learning baseline. This result may help motivate self modeling in increasingly complex robotic systems, as well as shed light on the origins of self-modeling, and ultimately self-awareness, in animals and humans.

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