Figure 3.

Flow chart of the skill training procedure. A novel skill is trained by showing a new basic behavior. The robot extends the domain of applicability by playing the object, i.e., by performing a random walk through the network shown in Figure 2. The solid lines indicate the behavior of the basic approach (Hangl et al., 2016). The shaded areas and dashed lines show the proposed extensions, i.e., training of an environment model, boredom, and composite behavior generation.