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Bootstrapping, uncertain semantics, and invariance

Censi, Andrea and Murray, Richard M. (2011) Bootstrapping, uncertain semantics, and invariance. Caltech , Pasadena, CA. (Unpublished)

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In the problem of bootstrapping, an agent learns to use an unknown body, in an unknown world, starting from zero information about the models involved. This is a fascinating problem, which so far has not been given a proper formalization. In this paper, we give a rigorous definition of what it means for an agent to be able to use "uninterpreted" observations and commands: there are some disturbances, represented by group actions, that modify what we call "semantic maps". The range of disturbances tolerated by an agent indirectly encode the assumptions needed by the agent. We argue that the behavior of agent which claims optimality (in any sense) must actually be invariant to such disturbances, and we discuss several design principles which allow to obtain this invariance for observations nuisances.

Item Type:Report or Paper (Technical Report)
Censi, Andrea0000-0001-5162-0398
Murray, Richard M.0000-0002-5785-7481
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2011.004
Persistent URL:
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28144
Deposited By: Imported from CaltechCDSTR
Deposited On:18 Apr 2011
Last Modified:09 Mar 2020 13:18

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