IM-CLeVeR: Intrinsically Motivated Cumulative Learning Versatile Robots

Project summary IM-CLeVeR


aims to develop a new methodology for designing robots controllers that can: (1) cumulatively learn new efficient skills through autonomous development based on intrinsic motivations, and (2) reuse such skills for accomplishing multiple, complex, and externally-assigned tasks.


During skill-acquisition, the robots will behave like children at play which acquire skills autonomously on the basis of “intrinsicmotivations”. During skill-exploitation, the robots will exhibit fast learning capabilities and a high versatility in solving tasks defined by external users due to their capacity of flexibly re-using, composing and readapting previously acquired skills.


This overall goal will be pursued investigating three fundamental scientific and technological issues: (1) the mechanisms of abstraction of sensory information; (2) the mechanisms underlying intrinsic motivations, e.g. “curiosity drives” that learn to focus attention and learning capabilities on “zones of proximal development”; (3) hierarchical recursive architectures which permit cumulative learning. The study of theseissues will also be fuelled by a reverse-engineering effort aiming at reproducing with bio-mimetic models theresults of empirical experiments run with monkeys, children, and human adults.


The controllers proposed will be validated with challenging demonstrators based on a single humanoid robotic platform (iCub). As a main outcome, the project will significantly advance the scientific and technological state of the art, both in terms of theory and implementations, in autonomous learning systems and robots. This overall goal will be achieved on the basis of the integrated work of a highly interdisciplinary Consortium involvingleading international neuroscientists, psychologists, roboticists and machine-learning researchers.




Funding Source: 
European Commission
Project Timeframe: 
da 31 Dic 2008 a 29 Apr 2013



* Elisabetta Visalberghi (Second group from ISTC-CNR)

* Prof. Andrew Barto (Associate ISTC-CNR)


* UCMB - Universita' Campus Biomedico,

Principal investigator: Eugenio Guglielmelli, Flavio Keller

Italy, Rome


* USFD - University of Sheffield,

Principal investigators: Peter Redgrave, Kevin Gurney

UK, Sheffield


* FIAS - Frankfurt Institute for Advanced Studies,

Principal investigator: Jochen Triesh

Germany, Frankfurt


* UU - University of Ulster,

Principal investigator: Martin McGuinnity

UK, Ulster


* AU - Aberystwyth University,

Principal investigator: Mark Lee

UK, Aberystwyth


* IDSIA-SUPSI - Scuola Universitaria della Svizzera Italiana,

Principal investigator: Juergen Schmidhuber

Switzerland, Lugano