Developmental learning model for joint attention

This paper proposes a developmental learning model for joint attention between a robot and a human caregiver. The proposed model has abilities to accelerate the learning and improve the final task performance owing to two kinds of developments: a robot's development and a caregiver's one. The robot's development means that the sensing and actuating capabilities of the robot change from immaturity to maturity. On the other hand, the caregiver's development is defined as that the caregiver changes the task from easy situation to difficult one. The proposed model causes these developments according to the learning progress of the robot. The experimental results show what kinds of effects the developments bring to the learning.