Evolving creatures that can learn by imitation: apprentice behavior and its role in robot motor learning

The approach presented argues in favor of a methodology of evolving robotic systems that are fitted for learning from similar creatures in their environment, i.e. exhibit an apprentice behavior. An individual system that is adapted for learning from other fitted individuals performing in the same environment is proposed and it is suggested how such a system may be obtained through evolution. As a particular implementation of such a system, an anthropomorphic manipulator is considered, which is assumed to have gained this ability. Its motor development is outlined with the apprentice behavior supporting the transition from self learning of sensory coordination to teacher based learning.