{"id":"https://openalex.org/W2586735800","doi":"https://doi.org/10.1109/devlrn.2016.7846789","title":"Dynamical self-consistency leads to behavioral development and emergent social interactions in robots","display_name":"Dynamical self-consistency leads to behavioral development and emergent social interactions in robots","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2586735800","doi":"https://doi.org/10.1109/devlrn.2016.7846789","mag":"2586735800"},"language":"en","primary_location":{"id":"doi:10.1109/devlrn.2016.7846789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/devlrn.2016.7846789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072723889","display_name":"Ralf Der","orcid":null},"institutions":[{"id":"https://openalex.org/I926574661","display_name":"Leipzig University","ror":"https://ror.org/03s7gtk40","country_code":"DE","type":"education","lineage":["https://openalex.org/I926574661"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ralf Der","raw_affiliation_strings":["University of Leipzig, Institute of Informatics, Leipzig, Germany"],"affiliations":[{"raw_affiliation_string":"University of Leipzig, Institute of Informatics, Leipzig, Germany","institution_ids":["https://openalex.org/I926574661"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001474340","display_name":"Georg Martius","orcid":"https://orcid.org/0000-0002-8963-7627"},"institutions":[{"id":"https://openalex.org/I157556583","display_name":"Institute of Science and Technology Austria","ror":"https://ror.org/03gnh5541","country_code":"AT","type":"education","lineage":["https://openalex.org/I157556583"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Georg Martius","raw_affiliation_strings":["IST Austria, Am Campus 1, Klosterneuburg, Austria"],"affiliations":[{"raw_affiliation_string":"IST Austria, Am Campus 1, Klosterneuburg, Austria","institution_ids":["https://openalex.org/I157556583"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5072723889"],"corresponding_institution_ids":["https://openalex.org/I926574661"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10973442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"49","last_page":"56"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11883","display_name":"Embodied and Extended Cognition","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7094151973724365},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.6359944343566895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5990034937858582},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.5400148034095764},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4919095039367676},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4798447787761688},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.47371047735214233},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.44079434871673584},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4163282513618469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41536080837249756},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4147682785987854},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4115849733352661},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3676406741142273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23832818865776062},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19452959299087524}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7094151973724365},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.6359944343566895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5990034937858582},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.5400148034095764},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4919095039367676},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4798447787761688},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.47371047735214233},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.44079434871673584},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4163282513618469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41536080837249756},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4147682785987854},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4115849733352661},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3676406741142273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23832818865776062},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19452959299087524},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/devlrn.2016.7846789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/devlrn.2016.7846789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W625619054","https://openalex.org/W1491430245","https://openalex.org/W1528027857","https://openalex.org/W1558521349","https://openalex.org/W1638295164","https://openalex.org/W1989269080","https://openalex.org/W2000514530","https://openalex.org/W2001136156","https://openalex.org/W2033778608","https://openalex.org/W2049440433","https://openalex.org/W2065264265","https://openalex.org/W2074499097","https://openalex.org/W2085693068","https://openalex.org/W2091795526","https://openalex.org/W2106423795","https://openalex.org/W2116139600","https://openalex.org/W2119796324","https://openalex.org/W2128872811","https://openalex.org/W2131707403","https://openalex.org/W2156174987","https://openalex.org/W2162850206","https://openalex.org/W2202606060","https://openalex.org/W2203559418","https://openalex.org/W2235613904","https://openalex.org/W2319387759","https://openalex.org/W2422831094","https://openalex.org/W4231327205","https://openalex.org/W4238158849","https://openalex.org/W4250337847","https://openalex.org/W4297669305","https://openalex.org/W6650587873","https://openalex.org/W6677313311","https://openalex.org/W6679997683","https://openalex.org/W6687717405","https://openalex.org/W6718025078"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W4386128912"],"abstract_inverted_index":{"We":[0,67],"present":[1],"an":[2,70,182,189],"approach":[3],"that":[4,34,81,205],"enables":[5],"robots":[6,150,174],"to":[7,94,121,129,138,151,187],"self-organize":[8],"their":[9],"sensorimotor":[10],"behavior":[11,159,207],"from":[12],"scratch":[13],"without":[14],"providing":[15],"specific":[16,219],"information":[17],"about":[18],"neither":[19],"the":[20,36,47,54,57,61,91,99,103,109,133,140,143,173,196],"robot":[21,134],"nor":[22],"its":[23],"environment.":[24],"This":[25],"is":[26,185,193,223],"achieved":[27],"by":[28,98],"a":[29,86,107,116,122,157,201],"simple":[30,49],"neural":[31,44],"control":[32],"law":[33],"increases":[35],"consistency":[37],"between":[38],"external":[39],"sensor":[40],"dynamics":[41,45],"and":[42,56,118],"internal":[43,216],"of":[46,64,102,142,195],"utterly":[48],"controller.":[50],"In":[51],"this":[52],"way,":[53],"embodiment":[55],"agent-environment":[58],"coupling":[59],"are":[60,170],"only":[62],"source":[63],"individual":[65],"development.":[66],"show":[68],"how":[69,128],"anthropomorphic":[71],"tendon":[72],"driven":[73,97],"arm-shoulder":[74],"system":[75],"develops":[76],"different":[77],"behaviors":[78],"depending":[79],"on":[80],"coupling.":[82],"For":[83],"instance:":[84],"given":[85],"bottle":[87],"half-filled":[88],"with":[89],"water,":[90],"arm":[92,110],"starts":[93],"shake":[95],"it,":[96],"physical":[100],"response":[101],"water.":[104],"When":[105,145],"attaching":[106],"brush,":[108],"can":[111,175],"be":[112,136,209],"manipulated":[113],"into":[114,156],"wiping":[115],"table,":[117],"when":[119],"connected":[120],"revolvable":[123],"wheel":[124],"it":[125,184],"finds":[126],"out":[127],"rotate":[130],"it.":[131],"Thus,":[132],"may":[135,208],"said":[137],"discover":[139],"affordances":[141],"world.":[144],"allowing":[146],"two":[147],"(simulated)":[148],"humanoid":[149],"interact":[152],"physically,":[153],"they":[154],"engage":[155],"joint":[158],"development":[160],"leading":[161],"to,":[162],"for":[163],"instance,":[164],"spontaneous":[165],"cooperation.":[166],"More":[167],"social":[168],"effects":[169],"observed":[171],"if":[172],"visually":[176],"perceive":[177],"each":[178],"other.":[179],"Although,":[180],"as":[181],"observer,":[183],"tempting":[186],"attribute":[188],"apparent":[190],"intentionality,":[191],"there":[192],"nothing":[194],"kind":[197],"put":[198],"in.":[199],"As":[200],"conclusion,":[202],"we":[203],"argue":[204],"emergent":[206],"much":[210],"less":[211],"rooted":[212],"in":[213],"explicit":[214],"intentions,":[215],"motivations,":[217],"or":[218],"reward":[220],"systems":[221],"than":[222],"commonly":[224],"believed.":[225]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}