TY - JOUR T1 - Outline of a sensory-motor perspective on intrinsically moral agents JF - Adaptive Behavior Y1 - 2016 A1 - Christian Balkenius A1 - Lola Cañamero A1 - Philip Pärnamets A1 - Birger Johansson A1 - Martin V Butz A1 - Andreas Olsson AB - We propose that moral behaviour of artificial agents could (and should) be intrinsically grounded in their own sensory-motor experiences. Such an ability depends critically on seven types of competencies. First, intrinsic morality should be grounded in the internal values of the robot arising from its physiology and embodiment. Second, the moral principles of robots should develop through their interactions with the environment and with other agents. Third, we claim that the dynamics of moral (or social) emotions closely follows that of other non-social emotions used in valuation and decision making. Fourth, we explain how moral emotions can be learned from the observation of others. Fifth, we argue that to assess social interaction, a robot should be able to learn about and understand responsibility and causation. Sixth, we explain how mechanisms that can learn the consequences of actions are necessary for a robot to make moral decisions. Seventh, we describe how the moral evaluation mechanisms outlined can be extended to situations where a robot should understand the goals of others. Finally, we argue that these competencies lay the foundation for robots that can feel guilt, shame and pride, that have compassion and that know how to assign responsibility and blame. PB - SAGE VL - 24 UR - https://journals.sagepub.com/doi/10.1177/1059712316667203 IS - 5 N1 - Download ER - TY - CONF T1 - Learning Affective Landmarks T2 - Proc. 9th International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob 2009) Y1 - 2009 A1 - Antoine Hiolle A1 - Lola Cañamero ED - Lola Cañamero ED - Pierre-Yves Oudeyer ED - Christian Balkenius AB - This poster presents early work on the effects of arousal and its regulation on learning about the environment, particularly affective memories associated with places that can be used to safely guide exploration. JF - Proc. 9th International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob 2009) T3 - Lund University Cognitive Studies PB - Lund University CY - Venice, Italy VL - 146 SN - 978-91-977-380-7-1 UR - http://www.lucs.lu.se/LUCS/146/epirob09.pdf ER - TY - Generic T1 - Proceedings of the Ninth International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems Y1 - 2009 ED - Lola Cañamero ED - Pierre-Yves Oudeyer ED - Christian Balkenius T3 - Lund University Cognitive Studies PB - Lund University CY - Venice, Italy VL - 146 SN - 978-91-977-380-7-1 UR - https://www.lucs.lu.se/LUCS/146/ ER - TY - CONF T1 - Should I worry about my stressed pregnant robot? T2 - Proc. 9th International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob 2009) Y1 - 2009 A1 - David Bowes A1 - Lola Cañamero A1 - Roderick G Adams A1 - Volker Steuber A1 - Davey, Neil ED - Lola Cañamero ED - Pierre-Yves Oudeyer ED - Christian Balkenius JF - Proc. 9th International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob 2009) T3 - Lund University Cognitive Studies PB - Lund University CY - Venice, Italy VL - 146 SN - 978-91-977-380-7-1 UR - http://www.lucs.lu.se/LUCS/146/epirob09.pdf ER - TY - CONF T1 - Conscientious Caretaking for Autonomous Robots: An Arousal-Based Model of Exploratory Behavior T2 - Proc. 8th International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob 2008) Y1 - 2008 A1 - Antoine Hiolle A1 - Lola Cañamero ED - Matthew Schlesinger ED - Luc Berthouze ED - Christian Balkenius AB - The question of how autonomous robots could be part of our everyday life is gaining increasing interest. We present here an experiment in which an autonomous robot explores its environment and tries to familiarize itself with its novel elements using a neural-network-based architecture. When confronted with novelty, the lack of stability of its learning structures increases the arousal level of the robot, pushing it to look for comfort from its caretaker in order to reduce this arousal. In this paper, we studied how the behavior of the caretaker—and in particular the amount of comfort it provides to the robot during its exploration of the environment—influences the course of the robot’s exploration and learning experience. This work takes inspiration from early mother-infant interactions and the impact that the primary caretaker has on the development of children—at least in mainstream Western culture. The underlying hypothesis is that the behavior of a caregiver, and particularly his/her role in modulating arousal, will influence the development of an autonomous robot, and that arousal regulation will also depend on how accurately the robot signals its internal state and how the caretaker (or human user) responds to these signals. JF - Proc. 8th International Conference on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob 2008) T3 - Lund University Cognitive Studies PB - Lund University CY - Brighton, UK VL - 139 SN - 978-91-977-380-1-9 UR - http://www.lucs.lu.se/LUCS/139/hiolle.pdf ER - TY - CONF T1 - Developing Sensorimotor Associations Through Attachment Bonds T2 - Proc. 7th International Conference on Epigenetic Robotics (EpiRob 2007) Y1 - 2007 A1 - Antoine Hiolle A1 - Lola Cañamero ED - Luc Berthouze ED - C G Prince ED - M Littman ED - Hideki Kozima ED - Christian Balkenius AB - Attachment bonds and positive affect help cognitive development and social interactions in infants and animals. In this paper we present a neural architecture to enable a robot to develop an attachment bond with a person or an object, and to discover the correct sensorimotor associations to maintain a desired affective state of well-being using a minimum amount of prior knowledge about the possible interactions with this object. We also discuss how our research on attachment bonds could further developmental robotics in the near future. JF - Proc. 7th International Conference on Epigenetic Robotics (EpiRob 2007) T3 - Lund University Cognitive Studies PB - Lund University CY - Piscataway, NJ, USA VL - 134 SN - 91-974741-8-5 UR - https://www.lucs.lu.se/LUCS/135/Hiolle.pdf ER - TY - CONF T1 - From Imprinting to Adaptation: Building a History of Affective Interaction T2 - Fifth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob2005) Y1 - 2005 A1 - Arnaud J Blanchard A1 - Lola Cañamero ED - Luc Berthouze ED - Frédéric Kaplan ED - Hideki Kozima ED - Hiroyuki Yano ED - Jürgen Konczak ED - Giorgio Metta ED - Jacqueline Nadel ED - Giulio Sandini ED - Georgi Stojanov ED - Christian Balkenius AB - We present a Perception-Action architecture and experiments to simulate imprinting—the establishment of strong attachment links with a "caregiver"—in a robot. Following recent theories, we do not consider imprinting as rigidly timed and irreversible, but as a more flexible phenomenon that allows for further adaptation as a result of reward-based learning through experience. Our architecture reconciles these two types of perceptual learning traditionally considered as different and even incompatible. After the initial imprinting, adaptation is achieved in the context of a history of "affective" interactions between the robot and a human, driven by "distress" and "comfort" responses in the robot. JF - Fifth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob2005) PB - Lund University Cognitive Studies SN - 91-974741-4-2 ER -