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首页> 外文期刊>Neural Networks and Learning Systems, IEEE Transactions on >Developmental Perception of the Self and Action
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Developmental Perception of the Self and Action

机译：自我与行动的发展感知

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摘要

This paper describes a developmental framework for action-driven perception in anthropomorphic robots. The key idea of the framework is that action generation develops the agent's perception of its own body and actions. Action-driven development is critical for identifying changing body parts and understanding the effects of actions in unknown or nonstationary environments. We embedded minimal knowledge into the robot's cognitive system in the form of motor synergies and actions to allow motor exploration. The robot voluntarily generates actions and develops the ability to perceive its own body and the effect that it generates on the environment. The robot, in addition, can compose this kind of learned primitives to perform complex actions and characterize them in terms of their sensory effects. After learning, the robot can recognize manipulative human behaviors with cross-modal anticipation for recovery of unavailable sensory modality, and reproduce the recognized actions afterward. We evaluated the proposed framework in the experiments with a real robot. In the experiments, we achieved autonomous body identification, learning of fixation, reaching and grasping actions, and developmental recognition of human actions as well as their reproduction.
机译：本文介绍了拟人化机器人中动作驱动感知的开发框架。该框架的关键思想是，行动的产生会发展代理对自身身体和行动的感知。行动驱动的开发对于识别变化中的身体部位并了解未知或非平稳环境中的动作影响至关重要。我们以运动协同作用和动作形式将最少的知识嵌入到机器人的认知系统中，以进行运动探索。机器人自动产生动作并发展感知自己身体的能力以及对环境产生的影响。此外，机器人可以构成这种学习的原语，以执行复杂的动作并根据其感官效果对其进行表征。学习后，机器人可以通过交叉模式的预期来识别人类的操纵性行为，以恢复无法获得的感官形态，并在以后重现所识别的动作。我们在使用真实机器人的实验中评估了提出的框架。在实验中，我们实现了自主的身体识别，对固定的学习，对动作的掌握和掌握以及对人类行为及其复制的发育认识。

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