Robustness of Guided Self-Organization against Sensorimotor disruptions

Self-organizing processes are crucial for the development of living beings. Practical applications in robots may bene t from the self-organization of behavior, e.g. to increase fault tolerance and enhance exibility, provided that external goals can also be achieved. We present results on the guidance of self-organizing control by visual target stimuli and show a remarkable robustness to sensorimotor disruptions. In a proof of concept study an autonomous wheeled robot is learning an object nding and ball-pushing task from scratch within a few minutes in continuous domains. The robustness is demonstrated by the rapid recovery of the performance after severe changes of the sensor con guration.