Learning effects of robot actions using temporal associations

Agents need to know the effects of their actions. Strong associations between actions and effects can be found by counting how often they co-occur. We present an algorithm that learns temporal patterns expressed as fluents, i.e. propositions with temporal extent. The fluent-learning algorithm is hierarchical and unsupervised. It works by maintaining co-occurrence statistics on pairs of fluents. In experiments on a mobile robot, the fluent-learning algorithm found temporal associations that correspond to effects of the robot´s actions.