Proceedings of the Annual Meeting of the Cognitive Science Society

In hierarchical perception-action (PA) learning, agents discover invariants between percepts and actions that are structured hierarchically, from very basic immediate links to higher-level, more abstract notions. In practice, existing work tends to either focus on the general theory at the expense of details of the proposed mechanisms, or specify a-priori the contents of some layers. Here, we introduce a framework that does without such constraints. We demonstrate the framework in a simple 2D environment using an agent that has minimal perceptual and action abilities. We vary the perceptual abilities of the agent to explore how the specifics of this aspect of the agent's body might affect PA learning and find unexpected consequences. The contribution of this paper is therefore twofold, (1) we add a novel framework to the literature on PA learning, using, in particular curiosity-based reinforcement learning (RL) to implement the necessary learning mechanisms, and (2) we demonstrate that even for very simple agents, the relation between the specifics of an agent's body and its cognitive abilities is not straightforward.