{"id":"https://openalex.org/W2998875866","doi":"https://doi.org/10.1177/1059712320922916","title":"Intrinsic motivation and episodic memories for robot exploration of high-dimensional sensory spaces","display_name":"Intrinsic motivation and episodic memories for robot exploration of high-dimensional sensory spaces","publication_year":2020,"publication_date":"2020-06-07","ids":{"openalex":"https://openalex.org/W2998875866","doi":"https://doi.org/10.1177/1059712320922916","mag":"2998875866"},"language":"en","primary_location":{"id":"doi:10.1177/1059712320922916","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712320922916","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Adaptive Behavior","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.01982","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085043494","display_name":"Guido Schillaci","orcid":"https://orcid.org/0000-0002-0975-1068"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Guido Schillaci","raw_affiliation_strings":["Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy","Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0975-1068","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics & AI, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081430539","display_name":"Antonio Pico Villalpando","orcid":null},"institutions":[{"id":"https://openalex.org/I39343248","display_name":"Humboldt-Universit\u00e4t zu Berlin","ror":"https://ror.org/01hcx6992","country_code":"DE","type":"education","lineage":["https://openalex.org/I39343248"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Antonio Pico Villalpando","raw_affiliation_strings":["Adaptive Systems Group, Humboldt-Universit\u00e4t zu Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Systems Group, Humboldt-Universit\u00e4t zu Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I39343248"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025141452","display_name":"Verena V. Hafner","orcid":"https://orcid.org/0000-0002-9125-8466"},"institutions":[{"id":"https://openalex.org/I39343248","display_name":"Humboldt-Universit\u00e4t zu Berlin","ror":"https://ror.org/01hcx6992","country_code":"DE","type":"education","lineage":["https://openalex.org/I39343248"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Verena V Hafner","raw_affiliation_strings":["Adaptive Systems Group, Humboldt-Universit\u00e4t zu Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Adaptive Systems Group, Humboldt-Universit\u00e4t zu Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I39343248"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025594537","display_name":"Peter Hanappe","orcid":"https://orcid.org/0000-0002-7361-3700"},"institutions":[{"id":"https://openalex.org/I4210131385","display_name":"Sony (France)","ror":"https://ror.org/03cr99w51","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210131385","https://openalex.org/I4210143797"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Peter Hanappe","raw_affiliation_strings":["Sony Computer Science Laboratories, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Computer Science Laboratories, Paris, France","institution_ids":["https://openalex.org/I4210131385"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002495502","display_name":"David Colliaux","orcid":"https://orcid.org/0000-0003-1898-4864"},"institutions":[{"id":"https://openalex.org/I4210131385","display_name":"Sony (France)","ror":"https://ror.org/03cr99w51","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210131385","https://openalex.org/I4210143797"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Colliaux","raw_affiliation_strings":["Sony Computer Science Laboratories, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Computer Science Laboratories, Paris, France","institution_ids":["https://openalex.org/I4210131385"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015994846","display_name":"Timoth\u00e9e Wintz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210131385","display_name":"Sony (France)","ror":"https://ror.org/03cr99w51","country_code":"FR","type":"company","lineage":["https://openalex.org/I4210131385","https://openalex.org/I4210143797"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Timoth\u00e9e Wintz","raw_affiliation_strings":["Sony Computer Science Laboratories, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sony Computer Science Laboratories, Paris, France","institution_ids":["https://openalex.org/I4210131385"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5085043494"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":3.5363,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":{"value":0.93941743,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"29","issue":"6","first_page":"549","last_page":"566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"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":0.9987000226974487,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9944000244140625,"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/forgetting","display_name":"Forgetting","score":0.7217747569084167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6725579500198364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6090019941329956},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5602728724479675},{"id":"https://openalex.org/keywords/curiosity","display_name":"Curiosity","score":0.5591795444488525},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4867744445800781},{"id":"https://openalex.org/keywords/episodic-memory","display_name":"Episodic memory","score":0.479742169380188},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.16830101609230042},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.12014561891555786}],"concepts":[{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.7217747569084167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6725579500198364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6090019941329956},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5602728724479675},{"id":"https://openalex.org/C33435437","wikidata":"https://www.wikidata.org/wiki/Q366791","display_name":"Curiosity","level":2,"score":0.5591795444488525},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4867744445800781},{"id":"https://openalex.org/C88576662","wikidata":"https://www.wikidata.org/wiki/Q18646","display_name":"Episodic memory","level":3,"score":0.479742169380188},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.16830101609230042},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.12014561891555786},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/1059712320922916","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712320922916","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Adaptive Behavior","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2001.01982","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.01982","pdf_url":"https://arxiv.org/pdf/2001.01982","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:zenodo.org:7566022","is_oa":true,"landing_page_url":"https://zenodo.org/record/7566022","pdf_url":"https://zenodo.org/record/7566022","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Adaptive Behavior 29(6)","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:edoc.hu-berlin.de:18452/25697","is_oa":false,"landing_page_url":"http://edoc.hu-berlin.de/18452/25697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400923","display_name":"edoc Publication server (Humboldt University of Berlin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39343248","host_organization_name":"Humboldt-Universit\u00e4t zu Berlin","host_organization_lineage":["https://openalex.org/I39343248"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.01982","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.01982","pdf_url":"https://arxiv.org/pdf/2001.01982","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3105035837","display_name":null,"funder_award_id":"EU-H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G444234499","display_name":null,"funder_award_id":"773875","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G4937468798","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5492926978","display_name":"Predictive processes for intelligent behaviours, sensory enhancement and subjective experiences in robots","funder_award_id":"838861","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5792145227","display_name":"RObotics for MIcrofarms","funder_award_id":"773875","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338337","display_name":"H2020 Marie Sk\u0142odowska-Curie Actions","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W35791653","https://openalex.org/W355724390","https://openalex.org/W1824867799","https://openalex.org/W1974867621","https://openalex.org/W1989823960","https://openalex.org/W1998651249","https://openalex.org/W2004303440","https://openalex.org/W2037979274","https://openalex.org/W2047057213","https://openalex.org/W2101524054","https://openalex.org/W2114414717","https://openalex.org/W2115157819","https://openalex.org/W2118688308","https://openalex.org/W2136655611","https://openalex.org/W2144558232","https://openalex.org/W2148764920","https://openalex.org/W2186789910","https://openalex.org/W2401657790","https://openalex.org/W2437032923","https://openalex.org/W2470271743","https://openalex.org/W2471962767","https://openalex.org/W2484231675","https://openalex.org/W2519683295","https://openalex.org/W2744921630","https://openalex.org/W2787295326","https://openalex.org/W2788388592","https://openalex.org/W2790175389","https://openalex.org/W2792808063","https://openalex.org/W2804901184","https://openalex.org/W2808625875","https://openalex.org/W2938321354","https://openalex.org/W2947638559","https://openalex.org/W2962989195","https://openalex.org/W2963523627","https://openalex.org/W2964048876","https://openalex.org/W2964082094","https://openalex.org/W2972894795","https://openalex.org/W3106393803","https://openalex.org/W4233071312"],"related_works":["https://openalex.org/W3094054656","https://openalex.org/W4285676344","https://openalex.org/W2123270665","https://openalex.org/W4382584175","https://openalex.org/W2060310955","https://openalex.org/W2284924956","https://openalex.org/W3043413210","https://openalex.org/W2613740288","https://openalex.org/W4252460700","https://openalex.org/W4401386752"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"an":[3,12,86,113],"architecture":[4],"that":[5,73,111,127],"generates":[6],"curiosity-driven":[7],"goal-directed":[8],"exploration":[9,70],"behaviours":[10],"for":[11,25,137],"image":[13],"sensor":[14],"of":[15,21,29,35,38,48,64,85,104,145],"a":[16,62],"microfarming":[17],"robot.":[18],"A":[19],"combination":[20],"deep":[22],"neural":[23,40,106],"networks":[24,41],"offline":[26],"unsupervised":[27],"learning":[28,37,79],"low-dimensional":[30],"features":[31],"from":[32,123],"images":[33],"and":[34,45,67,143],"online":[36,102],"shallow":[39],"representing":[42],"the":[43,49,69,78,83,120,139,146],"inverse":[44],"forward":[46],"kinematics":[47],"system":[50,57,116],"have":[51],"been":[52,129],"used.":[53],"The":[54],"artificial":[55,105],"curiosity":[56],"assigns":[58],"interest":[59],"values":[60],"to":[61,76,93],"set":[63],"pre-defined":[65],"goals":[66],"drives":[68],"towards":[71],"those":[72],"are":[74],"expected":[75],"maximise":[77],"progress.":[80],"We":[81],"propose":[82],"integration":[84],"episodic":[87,114],"memory":[88,115],"in":[89],"intrinsic":[90],"motivation":[91],"systems":[92],"face":[94],"catastrophic":[95],"forgetting":[96,125],"issues,":[97],"typically":[98],"experienced":[99],"when":[100],"performing":[101],"updates":[103],"networks.":[107],"Our":[108],"results":[109],"show":[110],"adopting":[112],"not":[117],"only":[118],"prevents":[119],"computational":[121],"models":[122],"quickly":[124],"knowledge":[126],"has":[128],"previously":[130],"acquired":[131],"but":[132],"also":[133],"provides":[134],"new":[135],"avenues":[136],"modulating":[138],"balance":[140],"between":[141],"plasticity":[142],"stability":[144],"models.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}