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===Knowledge acquisition===
A more complex learning approach is "autonomous [[knowledge acquisition]]": the robot is left to explore the environment on its own. A system of goals and beliefs is typically assumed.
A somewhat more directed mode of exploration can be achieved by "curiosity" algorithms, such as Intelligent Adaptive Curiosity<ref>http://www.pyoudeyer.com/ims.pdf</ref><ref>http://www.pyoudeyer.com/oudeyer-kaplan-neurorobotics.pdf</ref> or Category-Based Intrinsic Motivation.<ref>http://science.slc.edu/~jmarshall/papers/cbim-epirob09.pdf</ref> These algorithms generally involve breaking sensory input into a finite number of categories and assigning some sort of prediction system (such as an [[Artificial Neural Network]]) to each. The prediction system keeps track of the error in its predictions over time. Reduction in prediction error is considered learning. The robot then preferentially explores categories in which it is learning (or reducing prediction error) the fastest.
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