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2016


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Dynamical self-consistency leads to behavioral development and emergent social interactions in robots.

Der, R., Martius, G.

In Proc. IEEE Int. Conf. on Development and Learning and Epigenetic Robotics, pages: 49-56, IEEE, September 2016, in press (inproceedings)

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DOI [BibTex]

2016


DOI [BibTex]


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Compliant control for soft robots: emergent behavior of a tendon driven anthropomorphic arm.

Martius, G., Hostettler, R., Knoll, A., Der, R.

In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 767-773, 2016 (inproceedings)

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DOI [BibTex]

DOI [BibTex]


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Extrapolation and learning equations

Martius, G., Lampert, C. H.

2016, arXiv preprint \url{https://arxiv.org/abs/1610.02995} (misc)

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Project Page [BibTex]

Project Page [BibTex]

2015


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Novel plasticity rule can explain the development of sensorimotor intelligence

Der, R., Martius, G.

Proceedings of the National Academy of Sciences, 112(45):E6224-E6232, 2015 (article)

Abstract
Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, self-organized behavioral development provides more questions than answers. Are there special functional units for curiosity, motivation, and creativity? This paper argues that these features can be grounded in synaptic plasticity itself, without requiring any higher-level constructs. We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case. Without specifying any purpose or goal, seemingly purposeful and adaptive rhythmic behavior is developed, displaying a certain level of sensorimotor intelligence. These surprising results require no system-specific modifications of the DEP rule. They rather arise from the underlying mechanism of spontaneous symmetry breaking, which is due to the tight brain body environment coupling. The new synaptic rule is biologically plausible and would be an interesting target for neurobiological investigation. We also argue that this neuronal mechanism may have been a catalyst in natural evolution.

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link (url) DOI Project Page [BibTex]

2015


link (url) DOI Project Page [BibTex]


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Quantifying Emergent Behavior of Autonomous Robots

Martius, G., Olbrich, E.

Entropy, 17(10):7266, 2015 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2007


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Guided Self-organisation for Autonomous Robot Development

Martius, G., Herrmann, J. M., Der, R.

In Advances in Artificial Life 9th European Conference, ECAL 2007, 4648, pages: 766-775, LNCS, Springer, 2007 (inproceedings)

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[BibTex]

2007


[BibTex]