Methods for establishing and utilizing sensorimotor programs

A method for establishing sensorimotor programs comprising:

• generating a first plurality of environments that represent a first concept, wherein the first concept is a bring-about concept;
• generating a second plurality of environments that represent a second concept;
• specifying a concept relationship that relates the first concept to the second concept and establishes the second concept as higher-order than the first concept;
• training, using the first plurality of environments, a first sensorimotor program to accomplish the first concept using a set of primitive actions;
• and
• training, using the second plurality of environments, a second sensorimotor program to accomplish the second concept using the first sensorimotor program and the set of primitive actions;
• wherein generating the first and second pluralities of environments comprises generating the first and second pluralities of environments using a rejection sampler in tandem with a general-purpose constraint satisfaction problem (CSP) solver;
• and
• wherein training the first sensorimotor program to accomplish the first concept comprises training the first sensorimotor program using a first reward function that rewards when the first sensorimotor program successfully brings about the first concept and correctly returns a value indicating that the first sensorimotor program has successfully brought about the first concept.