Skip to content. | Skip to navigation

Personal tools
Intrinsically Motivated
Cumulative Learning
Versatile Robots
Document Actions

CNR: IM-CLeVeR Meetings at Capo Caccia

— filed under: ,

This web-page gives all info on the Capocaccia event: (a) Scientific meeting; (b) 2 Focussed meetings; (c) Project Committees meetings; (d) IM-CLeVeR First Summer School; (e) IM-CLeVeR between-partners collaborations; (f) IM-CLeVeR dissemination.

When apr 28, 2011 12:00 to
mag 14, 2011 12:00
Where Capocaccia, Italy
Contact Name Gianluca Baldassarre
Attendees Gianluca Baldassarre (CNR)
Marco Mirolli (CNR)
Valerio Sperati (CNR)
Francesco Mannella (CNR)
Vincenzo Fiore (CNR)
Daniele Caligiore (CNR)
Vieri Santucci (CNR)
Andrew Barto (UMASS)
Domenico Formica (UCBM)
Fabrizio Taffoni (UCBM)
Kevin Gurney (USFD)
Peter Redgrave (USFD)
Ashvin Shah (USFD)
Tom Stafford (USFD)
Martin Thirkettle (USFD)
Mark Lee (AU)
James Law (AU)
Patricia Shaw (AU)
Constantin Rothkopf (FIAS)
Christos Dimitrakakis (FIAS)
Jochen Triesh (FIAS)
Luca Lonini (FIAS)
Gabriele Spina (FIAS)
Pramod Chandrashekhariah (FIAS)
Emmett Kerr (UU)
Yannis Gatsoulis (UU)
Juergen Schmidhuber (IDSIA)
Davide Migliore (IDSIA)
Varun Kompella (IDSIA)
Add event to calendar vCal

Intrinsic Motivations

Private-access link to web page that collects the Teams' last views on intrinsic motivations and hierarchical actions emerged at Capo Caccia.

Index of Page Sections

IM-CLeVeR focussed workshops
IM-CLeVeR Scientific meeting
Project Committees meetings
IM-CLeVeR First Summer School
IM-CLeVeR between-partners collaborations
IM-CLeVeR dissemination at Capocaccia
Capo Caccia Workshop
List of participants, days of permanence
Logistics, booking of rooms, ...


This project event will take place within The 2011 Capo Caccia Cognitive Neuromorphic Engineering Workshop.

The info on the logistics of the whole event, how to book the participation to the event, how to book the rooms, etc., is reported in the last section below.

Instructions to Partners on how to prepare for the meetings can be found following this link (private page).

The whole project event will involve these activities, each of which is expanded in a section below:

  1. Two IM-CLeVeR focussed workshops: Intrinsic Motivations, Hierarchical Architectures

  2. IM-CLeVeR meeting : Teams' update on ongoing research
  3. Project Committees meetings: Scientific Committee, Knowledge Committee, Junior Researchers

  4. IM-CLeVeR First Summer School: see the dedicated web-page here

  5. IM-CLeVeR between-partners collaborations: the ongoing collaborations

  6. IM-CLeVeR dissemination: to have an impact on the Capo Caccia event

The schedule of these activities is the following:

28-30 April --> IM-CLeVeR focussed workshops + Committes meetings
1-7 May ------> Summer School + collaborations + dissemination + Capo Caccia workshop

1. IM-CLeVeR Focussed Workshops: Intrinsic Motivations; Hierarchical Architectures

Day 1: 28 April, 9:00-->17:00 Intrinsic motivations

09:00-->09:15: CNR-ISTC: Introduction to the day
    Marco Mirolli

09:15-->10:30: Perspectives on Intrinsic Motivations
    Gianluca Baldassarre (CNR-ISTC)
    Andrew Barto (CNR-Barto)

10:30-->11:00: Coffee break

11:00-->12:30: Perspectives on Intrinsic Motivations
    Peter Redgrave (USFD)
    Christos Dimitrakakis (FIAS)
    Martin McGuinnity (UU)

12:30-->14:00: Lunch

14:00-->16:00: Discussion
    Marco Mirolli (CNR-ISTC)

16:00-->16:15: Coffee break

16:15-->17:00: Discussion: plans for joint efforts

Day 2: 29 April, 9:00-->17:00: Hierarchical Architectures

09:00-->09:15: CNR-ISTC: Introduction to the day

09:15-->10:30: Perspectives on Hierarchical Architectures (brief presentations)

10:30-->11:00: Coffee break

11:30-->12:00: Perspectives on Hierarchical Architectures (brief presentations)

12:00-->12:30: Discussion: Strengths and limits of different perspectives

12:30-->14:00: Lunch

14:00-->16:00: Discussion: Complementarity between different perspectives

16:00-->16:15: Coffee break

16:15-->17:00: Discussion: possible joint efforts

2. IM-CLeVeR Scientific meeting agenda

Day 3: 30 April, 9:00-->17:00: The second-year deliverables

09:00-->09:15: General issues on deliverables - Chair: CNR

09:15-->09:45: D3.2: Experiments - Chair: USFD

09:45-->10:45: D4.1: Abstraction - Chair: FIAS

10:45-->11:00: Coffee break

11:00-->12:00: D5.1: Novelty Detection - Chair: UU

12:00-->12:30: D6.1: Hierarchical Architectures - Chair: AU

12:30-->14:00: Lunch

14:00-->14:30: D6.1: Hierarchical Architectures - Chair: AU

14:30-->15:15: D7.6: CLEVER-K2 - Chair: IDSIA

15:15-->16:00: D7.5: CLEVER-B2 -Chair: CNR-ISTC/AU

16:00-->16:15: Coffee break

16:15-->17:00: Project committee meeting (see dedicated section below).

3. Project Committee meetings

The meetings will be held on 28 May afternoon. We will have the following meetings:

  1. Scientific and Management Committee Meeting:
    - Discussion on the organisation of the next Review Meeting
    - Discussion of various scientific and finantial reports
  2. Knowledge Committee Meeting
    - Edited books on intrinsic motivations and hierarchical actions
    - Web-site
  3. Junior Researchers Meeting (In parallel with committee meetings):
    - Junior researchers discuss IM-CLeVeR from their perspective, and discuss advices to give to senior researchers on possible steerings/improvements of the project
  4. Final plenary meeting: (10 mins): Junior researchers suggestions to the IM-CLeVeR Committees

4. IM-CLeVeR First Summer School

The summer school will have this schedule:
1 May:      Plenary lectures
2-6 May:   Projects by students
7 May:      Presentations of projects by students

LINK: summer school complete description

The school will see the involvement of these people:
- 15 students
- IM-CLeVeR seniors, and other invited, for the May 1 plenary lectures
- 12+ IM-CLeVeR posdocs for supervisiong the students projects during 2-7 May

5. IM-CLeVeR between-partners collaborations

The Capo Caccia event was a great occasion for IM-CLeVeR people from different groups to work together:


CNR (Gianluca Baldassarre, Marco Mirolli, Daniele Caligiore, Valerio Sperati) interact with AU (Patricia Shaw, James Law and Mark Lee) on CLeVeR-B2, in particular on the integration between the higher-level decision making components (CNR, USFD) and the lower-level robotic sensorimotor components (AU), the problems with the transfer to the real robot, the demos, future work, etc.


CNR-USFD: CNR (Gianluca Baldassarre, Marco Mirolli, Daniele Caligiore, Valerio Sperati, Francesco Mannella, Vieri Santucci, Vincenzo Fiore) discuss with USFD (Kevin Gurney, Peter Redgrave, other participants from USFD) in relation to the biological, theoretical, and modelling aspects related to the higher-level decision making components of CLEVER-B2 that learn on the basis of intrinsic motivations.

CNR-FIAS-USFD-AU: CNR, USFD, AU, FIAS (e.g. Gianluca Baldassarre, Marco Mirolli, Kevin Gurney, Peter Redgrave, Mark Lee, James Law) discuss CLEVER-B2-4.

USFD-AU: USFD discuss with AU (or others using iCub) to identify potential similarities between the "joystick task" and potential iCub behaviour. E.g., how feasible is it to essentially equate iCub's arm (freeze all DOFs except shoulder joint) with the joystick to learn to point to a particular location in a manner similar to how human subjects learn the joystick task?

USFD-roboticists: Most computational (neuroscience and ML) models treat actions as discrete pre-existing units (e.g., press button A, press button B, etc.) However, the joystick task looks at action discovery within a space that is better thought of as continuous. One can potentially represent the space by a very very large set of discrete actions, which would be infeasible to learn with algorithms designed to learn with a smaller set of discrete actions. One can also use function approximation, in which case learning may still take place on a discrete level (e.g., across a relatively small set of functions). It is unlikely that the same mechanisms that govern learning with small sets of discrete actions also govern learning within continuous spaces. We would like to talk with roboticists about doing biologically-plausible reinforcement learning of some form within continuous spaces. Roboticists must deal with working within continuous spaces on a computational level. Also, there is some research within ML that looks at learning in continuous spaces (e.g., gradient methods within the parameter space of functions) that roboticists and computer scientists may be familiar with. We have our own ideas as well, but there are likely concepts that we would find useful that roboticists have already worked out. 

IDSIA-UU-FIAS: Discussion on integration on CLEVER-K2:
- Situation of visual processing algorithms
- Possibility of using ''slow features'' to implement new forms of intrinsic motivation mechanisms, and other new types of mechanisms discovered recently
- Tasks carried out in the CLEVER-K2 demo
- Standardisation of tasks
- Technical problems involved in integration
- Relations between the partners involved in the integration

UU-AU: Discussion on theoretical and practical aspects of novelty detection within the corresponding work packages and tasks of the two partners. Agreed on UU to visit AU for integration of the partners' modules.

6. IM-CLeVeR dissemination at Capocaccia

We exploit this occasion to disseminate IM-CLeVeR as much as possible during the Capocaccia event. All partners were asked to contribute to implement these actions to this purpose:

28 April - 8 May: Free peer communications with the people at the Capo Caccia workshop.

1 May: Plenary presentations for the IM-CLeVeR summer school.

2-7 May (8-14 May, project continuation). IM-CLeVeR Summer School projects (15 students).

4 May. Gianluca Baldassarre, Marco Mirolli, Juergen Schmidhuber, Kevin Gurney: Plenary discussion on  ''Reinforcement Learning and decision making in neuromorphic and real-time behaving systems'', with a stress on IM-CLeVeR themes: intrinsic motivations and hierarchical actions. 

5 May. Kevin Gurney: Morning discussion on ''Understanding cortico-basal ganglia interactions''

7 May: Gianluca Baldassarre: Plenary presentation on ''The IM-CLeVeR Project''.

7 May: Plenary presentations of IM-CLeVeR summer school projects.

Capo Caccia Workshop

This is a unique opportunity to interact with other people working in our field, and get involved in various activities.

The program of the Capo Caccia Workshop can be find here.

There are already some workgroups for 2011 defined here.

See here for examples of 2010 workgroups and activities.

 Use the page on the 2011 workgroups to define more workgroups and discussion groups. The page will allow other participants to subscribe to them, and it will automatically create a mailing list that all workgroup members can use to synchronize. It is essential to think about workgroups well in advance, and prepare for them at least one month before the beginning of the workshop.

List of participants, days of presence (arrival-departure)

27/4-8/5: Gianluca Baldassarre
27/4-8/5: Marco Mirolli
27/4-6/5: Valerio Sperati
27/4-7/5: Francesco Mannella
27/4-6/5: Vincenzo Fiore
27/4-7/5: Daniele Caligiore
27/4-8/5: Vieri Santucci

26/4-3/5: Andrew Barto


27/4-2/5: Domenico Formica
27/4-2/5: Fabrizio Taffoni


26/4-9/5: Kevin Gurney
27/4-2/5: Peter Redgrave
27/4-9/5: Ashvin Shah
27/4-1/5: Tom Stafford
27/4-9/5: Martin Thirkettle

27/4-3/5 Mark Lee
27/4-8/5 James Law
27/4-8/5 Patricia Shaw


27/4-30/4: Constantin Rothkopf
27/4-30/4:  Christos Dimitrakakis
27/4-8/5: Jochen Triesch
27/4-7/5: Luca Lonini
27/4-7/5: Gabriele Spina
27/4-7/5: Pramod 


27/4-1/5: Martin McGinnity
27/4-1/5: Nazmul Siddique
27/4-8/5: Yiannis Gatsoulis
27/4-6/5: Emmett Kerr



26/4-7/5: Juergen Schmidhuber
30/4-8/5: Davide Migliore
27/4-7/5: Varun Kompella

Logistics, booking of rooms, ...

Important links are as follows:

Venue and Hotel

Capo Caccia Workshop Registration and Fees

Travel information

Here is some info from Giacomo Indivieri on how to register:

Rooms and registration fee

To make a room reservation, you need to pay a fixed registration fee of 150 euros.

Giorgio Indivieri et al were able to negotiate very convenient prices for the hotel rooms and services (which includes full board: breakfast, lunch and dinner), and room prices as low as 50EUR/day (for chippest twin rooms).

There is a limited number of "single" rooms, and a larger number of "shared" rooms for two people. So all students are expected to used the shared rooms.

Indivieri says: ''It is *extremely important* that you specify the hotel room preference and registration dates as soon as possible. They only have a limited number of rooms with the discounted prices, so if you wait you risk of not finding them.''

Indivieri et al will make the hotel room reservations for everybody, but participants have to pay for the hotel rooms, and registration fee, on their own.

Room reservation, registration fee payment, room confirmation, room payment

The general process to follow is this:

(1) Make a room reservation (room type, days)
(2) Create an invoice of the registration fee, which is fixed (150 euros)
(3) Pay the registration fee with money transfer or credit card
(4) The hotel will confirm your room reservation after they receive the money
(5) You pay the room directly to the hotel when you check out

Here is what to do in detail in each of these passages.

Room reservations are managed via a workshop wiki private area. To access the workshop wiki private area you have to first register here to get a login and password:

After you got registered and have a login and password, login here:

Then, access the page:
(e.g., by copying the link into your browser).
This page also indicates the room fees in its lower part.

From here, there is a link ''create your room reservation'' that sends you to the following page where you can make the reservation request (indicating type of room, days, etc.):

After you have made the reservation request, you have to pay the registration fee by following the instructions indicated in the page where you were before:
In practice, to do so you have to create your invoice by clicking the link ''Create Registration Fee Invoice for Bank Transfer'', or ''Create Registration Fee Invoice for Credit Card & Paypal'' and then pay with bank money transfer or credit card  following the instructions in the page.

After few days that you have paid, check in the same page that your reservation request of the rooms has been accepted.

You will pay the rooms directly to the hotel when you check-out.