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Behavior is characterized by sequences of goal-oriented conducts, such asfood uptake, socializing and resting. Classically, one would define for eachtask a corresponding satisfaction level, with the agent engaging, at a giventime, in the activity having the lowest satisfaction level. Alternatively, onemay consider that the agent follows the overarching objective to generatesequences of distinct activities. To achieve a balanced distribution ofactivities would then be the primary goal, and not to master a specific task.In this setting, the agent would show two types of behaviors, task-oriented,and task-searching phases, with the latter interseeding the former.  We study the emergence of autonomous task switching for the case of asimulated robot arm. Grasping one of several moving objects corresponds in thissetting to a specific activity. Overall, the arm should follow a given objecttemporarily and then move away, in order to search for a new target andreengage. We show that this behavior can be generated robustly when modelingthe arm as an adaptive dynamical system. The dissipation function is in thisapproach time dependent. The arm is in a dissipative state when searching for anearby object, dissipating energy on approach. Once close, the dissipationfunction starts to increase, with the eventual sign change implying that thearm will take up energy and wander off. The resulting explorative state endswhen the dissipation function becomes again negative and the arm selects a newtarget. We believe that our approach may be generalized to generateself-organized sequences of activities in general.

When the goal is to generate a series of activities: A self-organized simulated robot arm