摘要：In recent years, predictive coding strategies have been proposed as a possible way of how the brain might make sense of the truly overwhelming amount of sensory data available to the brain at any given moment of time. Instead of the raw data, the brain is hypothesized to guide its actions by assigning causal believes to the observed error between what it expected to happen, and what actually happens. In this paper we present a potpourri of developmental neurorobotics experiments in which minimalist prediction-error based encoding strategies are utilize to elucidate the emergence of infant-like behavior in humanoid robotic platforms. Our approaches will be first naively Piagian, then move onto more Vygotskian ideas. More specifically, we will investigate how simple forms of infant learning such as motor sequence generation, object permanence, and imitation learning may arise if minimizing prediction errors are used as objective functions.
