<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-01339220</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-12T09:53:30+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">An Enactive Approach to Autonomous Agent and Robot Learning</title>
            <author role="aut">
              <persName>
                <forename type="first">Olivier L.</forename>
                <surname>Georgeon</surname>
              </persName>
              <email type="md5">4de2661a63e9c5bf47237fbb20c4a4fb</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="string">olivier-georgeon</idno>
              <idno type="idhal" notation="numeric">4205</idno>
              <idno type="halauthorid" notation="string">21556-4205</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-4883-8702</idno>
              <idno type="IDREF">https://www.idref.fr/130886238</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=Jztco5kAAAAJ</idno>
              <idno type="VIAF">https://viaf.org/viaf/202251873</idno>
              <idno type="ISNI">http://isni.org/isni/0000000357863379</idno>
              <affiliation ref="#struct-395876"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Christian</forename>
                <surname>Wolf</surname>
              </persName>
              <email type="md5">27e3639335f5b9da2c6d1234f8f8db45</email>
              <email type="domain">liris.cnrs.fr</email>
              <idno type="idhal" notation="string">christian-wolf</idno>
              <idno type="idhal" notation="numeric">3860</idno>
              <idno type="halauthorid" notation="string">6771-3860</idno>
              <idno type="IDREF">https://www.idref.fr/083311696</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-9766-3211</idno>
              <affiliation ref="#struct-403930"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Simon</forename>
                <surname>Gay</surname>
              </persName>
              <email type="md5">48cd65e0507c1cdff8066ed1b743d99d</email>
              <email type="domain">liris.cnrs.fr</email>
              <idno type="idhal" notation="string">simon-gay</idno>
              <idno type="idhal" notation="numeric">7601</idno>
              <idno type="halauthorid" notation="string">28208-7601</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7107-1055</idno>
              <idno type="IDREF">https://www.idref.fr/186172680</idno>
              <affiliation ref="#struct-395876"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Équipe gestionnaire des publications</forename>
                <surname>SI LIRIS</surname>
              </persName>
              <email type="md5">e23ef1a28486101db4cd509fd74c3ade</email>
              <email type="domain">liris.cnrs.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2016-10-20 15:21:53</date>
              <date type="whenWritten">2013-12</date>
              <date type="whenModified">2025-10-30 12:58:02</date>
              <date type="whenReleased">2016-10-21 16:15:02</date>
              <date type="whenProduced">2013-08-18</date>
              <date type="whenEndEmbargoed">2016-10-19</date>
              <ref type="file" target="https://hal.science/hal-01339220v1/document">
                <date notBefore="2016-10-19"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-01339220v1/file/GeorgeonO-Epirob2013.pdf" id="file-1383829-1464686">
                <date notBefore="2016-10-19"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="314372">
                <persName>
                  <forename>Équipe gestionnaire des publications</forename>
                  <surname>SI LIRIS</surname>
                </persName>
                <email type="md5">e23ef1a28486101db4cd509fd74c3ade</email>
                <email type="domain">liris.cnrs.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-01339220</idno>
            <idno type="halUri">https://hal.science/hal-01339220</idno>
            <idno type="halBibtex">georgeon:hal-01339220</idno>
            <idno type="halRefHtml">&lt;i&gt;Joint International Conference on Development and Learning and on Epigenetic Robotics&lt;/i&gt;, Aug 2013, Osaka, Japan. pp.1-6, &lt;a target="_blank" href="https://dx.doi.org/10.1109/DevLrn.2013.6652527"&gt;&amp;#x27E8;10.1109/DevLrn.2013.6652527&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Joint International Conference on Development and Learning and on Epigenetic Robotics, Aug 2013, Osaka, Japan. pp.1-6, &amp;#x27E8;10.1109/DevLrn.2013.6652527&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-1383829-1464686"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-LYON1">Université Claude Bernard - Lyon I</idno>
            <idno type="stamp" n="UNIV-LYON2">Université Lumière Lyon 2</idno>
            <idno type="stamp" n="INSA-LYON">Institut National des Sciences Appliquées de Lyon</idno>
            <idno type="stamp" n="EC-LYON">Ecole Centrale de Lyon</idno>
            <idno type="stamp" n="LIRIS" corresp="UNIV-LYON1">Laboratoire d'InfoRmatique en Image et Systèmes d'information</idno>
            <idno type="stamp" n="LABEXIMU">Laboratoire d’Excellence Intelligences des Mondes Urbains</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="UDL">UDL</idno>
            <idno type="stamp" n="UNIV-LYON">Université de Lyon</idno>
            <idno type="stamp" n="HAL-LYON-2-NOUVELLE-VERSION">Nouvelle version portail </idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">An Enactive Approach to Autonomous Agent and Robot Learning</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Olivier L.</forename>
                    <surname>Georgeon</surname>
                  </persName>
                  <email type="md5">4de2661a63e9c5bf47237fbb20c4a4fb</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="string">olivier-georgeon</idno>
                  <idno type="idhal" notation="numeric">4205</idno>
                  <idno type="halauthorid" notation="string">21556-4205</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-4883-8702</idno>
                  <idno type="IDREF">https://www.idref.fr/130886238</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=Jztco5kAAAAJ</idno>
                  <idno type="VIAF">https://viaf.org/viaf/202251873</idno>
                  <idno type="ISNI">http://isni.org/isni/0000000357863379</idno>
                  <affiliation ref="#struct-395876"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Christian</forename>
                    <surname>Wolf</surname>
                  </persName>
                  <email type="md5">27e3639335f5b9da2c6d1234f8f8db45</email>
                  <email type="domain">liris.cnrs.fr</email>
                  <idno type="idhal" notation="string">christian-wolf</idno>
                  <idno type="idhal" notation="numeric">3860</idno>
                  <idno type="halauthorid" notation="string">6771-3860</idno>
                  <idno type="IDREF">https://www.idref.fr/083311696</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-9766-3211</idno>
                  <affiliation ref="#struct-403930"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Simon</forename>
                    <surname>Gay</surname>
                  </persName>
                  <email type="md5">48cd65e0507c1cdff8066ed1b743d99d</email>
                  <email type="domain">liris.cnrs.fr</email>
                  <idno type="idhal" notation="string">simon-gay</idno>
                  <idno type="idhal" notation="numeric">7601</idno>
                  <idno type="halauthorid" notation="string">28208-7601</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7107-1055</idno>
                  <idno type="IDREF">https://www.idref.fr/186172680</idno>
                  <affiliation ref="#struct-395876"/>
                </author>
              </analytic>
              <monogr>
                <idno type="localRef">6188</idno>
                <meeting>
                  <title>Joint International Conference on Development and Learning and on Epigenetic Robotics</title>
                  <date type="start">2013-08-18</date>
                  <settlement>Osaka</settlement>
                  <country key="JP">Japan</country>
                </meeting>
                <editor>IEEE</editor>
                <imprint>
                  <biblScope unit="serie">Proceedings of the The Third Joint IEEE International Conference on Developmental Learning and Epigenetic Robotics </biblScope>
                  <biblScope unit="pp">1-6</biblScope>
                  <date type="datePub">2013-12</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1109/DevLrn.2013.6652527</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="info">Computer Science [cs]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>A novel way to model autonomous learning in artificial agents and robots is introduced, called an Enactive Markov Decision Process (EMDP). An EMDP keeps perception and action embedded within sensorimotor schemes rather than dissociated. On each decision cycle, the agent tries to enact a sensorimotor scheme, and the environment informs the agent whether it was indeed enacted or whether another sensorimotor scheme was enacted instead. This new modeling approach leads to implementing a new form of self-motivation called interactional motivation. An EMDP learning algorithm is presented. Results show that this algorithm allows the agent to develop active perception as it learns to master the sensorimotor contingences afforded by its coupling with the environment.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-395876" status="VALID">
          <orgName>Supporting Interaction and Learning by Experience</orgName>
          <orgName type="acronym">SILEX</orgName>
          <date type="end">2014-12-31</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-2003" type="direct"/>
            <relation active="#struct-33804" type="indirect"/>
            <relation active="#struct-126765" type="indirect"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-194495" type="indirect"/>
            <relation active="#struct-219748" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR5205" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-403930" status="VALID">
          <orgName>Extraction de Caractéristiques et Identification</orgName>
          <orgName type="acronym">imagine</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-1628546" type="direct"/>
            <relation active="#struct-2003" type="indirect"/>
            <relation active="#struct-33804" type="indirect"/>
            <relation active="#struct-126765" type="indirect"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-194495" type="indirect"/>
            <relation active="#struct-219748" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR5205" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-2003" status="VALID">
          <idno type="IdRef">149705271</idno>
          <idno type="ISNI">0000000122577669</idno>
          <idno type="RNSR">200511875R</idno>
          <idno type="ROR">https://ror.org/04dv4he91</idno>
          <orgName>Laboratoire d'InfoRmatique en Image et Systèmes d'information</orgName>
          <orgName type="acronym">LIRIS</orgName>
          <date type="start">2003-01-01</date>
          <desc>
            <address>
              <addrLine>Bâtiment Blaise Pascal - 20, avenue Albert Einstein - 69621 Villeurbanne cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://liris.cnrs.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-33804" type="direct"/>
            <relation active="#struct-126765" type="direct"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-194495" type="direct"/>
            <relation active="#struct-219748" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR5205" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-33804" status="VALID">
          <idno type="IdRef">02640334X</idno>
          <idno type="ISNI">0000 0001 2188 0906</idno>
          <idno type="ROR">https://ror.org/03rth4p18</idno>
          <idno type="Wikidata">Q4041</idno>
          <orgName>Université Lumière - Lyon 2</orgName>
          <orgName type="acronym">UL2</orgName>
          <desc>
            <address>
              <addrLine>86, rue Pasteur - 69007 Lyon</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lyon2.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-126765" status="VALID">
          <idno type="ROR">https://ror.org/05s6rge65</idno>
          <orgName>École Centrale de Lyon</orgName>
          <orgName type="acronym">ECL</orgName>
          <desc>
            <address>
              <addrLine>36 avenue Guy de Collongue - 69134 Ecully cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ec-lyon.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301088" status="VALID">
          <idno type="ROR">https://ror.org/01rk35k63</idno>
          <orgName>Université de Lyon</orgName>
          <desc>
            <address>
              <addrLine>92 rue Pasteur - CS 30122, 69361 Lyon Cedex 07</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.universite-lyon.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-194495" status="VALID">
          <idno type="IdRef">026402823</idno>
          <idno type="ISNI">0000000121686185</idno>
          <idno type="ROR">https://ror.org/029brtt94</idno>
          <orgName>Université Claude Bernard Lyon 1</orgName>
          <orgName type="acronym">UCBL</orgName>
          <desc>
            <address>
              <addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lyon1.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-219748" status="VALID">
          <idno type="IdRef">052444724</idno>
          <idno type="ISNI">0000 0001 2292 0228</idno>
          <orgName>Institut National des Sciences Appliquées de Lyon</orgName>
          <orgName type="acronym">INSA Lyon</orgName>
          <date type="start">1957-03-18</date>
          <desc>
            <address>
              <addrLine>20 Avenue Albert Einstein, 69621 Villeurbanne cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-lyon.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
            <relation active="#struct-301232" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="department" xml:id="struct-1628546" status="VALID">
          <orgName>Pôle informatique graphique et géométrie</orgName>
          <orgName type="acronym">IGG</orgName>
          <date type="start">2025-10-30</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-2003" type="direct"/>
            <relation active="#struct-33804" type="indirect"/>
            <relation active="#struct-126765" type="indirect"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-194495" type="indirect"/>
            <relation active="#struct-219748" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation name="UMR5205" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>