Our goal is for an autonomous learning agent to acquire the knowledge that serves as the foundations of common sense from its own experience without outside guidance. This requires the agent to (1) learn the structure of its own sensors and effectors; (2) learn a model of space around itself; (3) learn to move effectively in that space; (4) identify and describe objects, as distinct from the static environment; (5) learn and represent actions for affecting those objects, including preconditions and postconditions, and so on. We will provide examples of progress we have made, and the roadmap we envision for future research.

Modern mobile robots navigate uncertain environments using complex compositions of camera, laser, and sonar sensor data. Manual calibration of these sensors is a tedious process that involves determining sensor behavior, geometry and location through model specification and system identification. Instead, we seek to automate the construction of sensor model geometry by mining uninterpreted sensor streams for regularities. Manifold learning methods are powerful techniques for deriving sensor structure from streams of sensor data. In recent years, the proliferation of manifold learning algorithms has led to a variety of choices for autonomously generating models of sensor geometry. We present a series of comparisons between different manifold learning methods for discovering sensor geometry for the specific case of a mobile robot with a variety of sensors. We also explore the effect of control laws and sensor boundary size on the efficacy of manifold learning approaches. We find that "motor babbling" control laws generate better geometric sensor maps than mid-line or wall following control laws and identify a novel method for distinguishing boundary sensor elements. We also present a new learning method, sensorimotor embedding, that takes advantage of the controllable nature of robots to build sensor maps.

The 2007 Spring Symposium Series was held Monday through Wednesday, March 26-28, 2007, at Stanford University, California. The titles of the nine symposia in this symposium series were (1) Control Mechanisms for Spatial Knowledge Processing in Cognitive/Intelligent Systems, (2) Game Theoretic and Decision Theoretic Agents, (3) Intentions in Intelligent Systems, (4) Interaction Challenges for Artificial Assistants, (5) Logical Formalizations of Commonsense Reasoning, (6) Machine Reading, (7) Multidisciplinary Collaboration for Socially Assistive Robotics, (8) Quantum Interaction, and (9) Robots and Robot Venues: Resources for AI Education.

The 2007 Spring Symposium Series was held Monday through Wednesday, March 26-28, 2007, at Stanford University, California. The titles of the nine symposia in this symposium series were (1) Control Mechanisms for Spatial Knowledge Processing in Cognitive/Intelligent Systems, (2) Game Theoretic and Decision Theoretic Agents, (3) Intentions in Intelligent Systems, (4) Interaction Challenges for Artificial Assistants, (5) Logical Formalizations of Commonsense Reasoning, (6) Machine Reading, (7) Multidisciplinary Collaboration for Socially Assistive Robotics, (8) Quantum Interaction, and (9) Robots and Robot Venues: Resources for AI Education.