Poster

Robots with self-perception: objects discovery and scene disambiguation using visual, proprioceptive and tactile cues correlation during interaction.

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Poster

Robots with self-perception: objects discovery and scene disambiguation using visual, proprioceptive and tactile cues correlation during interaction.

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Abstract

Inducing simple causality using visual, proprioceptive and tactile cues correlation and artificial attention during interaction.

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... Timing, spatial correlations and contingency [18], [53] are three main known pillars for learning self patterns. One of the potential models for the enactive self is to learn the forward body model (some interesting methods have been presented here) and then use the prediction error to adapt Inter-modal timing relations Depends on the network dynamics or refine the model as well as differentiating the inbody from outbody/other sources. ...
Conference Paper
Full-text available
In this paper we discuss the enactive self from a computational point of view and study the suitability of current methods to instantiate it onto robots. As an assumption, we consider any cognitive agent as an autonomous system that constructs its identity by continuous interaction with the environment. We start examining algorithms to learn the body-schema and to enable tool-extension, and we finalise by studying their viability for generalizing the enactive self computational model. This paper points out promising techniques for bodily self-modelling and exploration, as well as formally link sensorimotor models with differential kinematics. Although the study is restricted to basic sensorimotor construction of the self, some of the analysed works also traverse into more complex self constructions with a social component. Furthermore, we discuss the main gaps of current engineering approaches for modelling enactive robots and describe the main characteristics that a synthetic sensorimotor self-model should present.
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