Integrating Epistemic Action (Active Vision) and Pragmatic Action (Reaching): A Neural Architecture for Camera-Arm Robots

  • Dimitri Ognibene
  • Christian Balkenius
  • Gianluca Baldassarre
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5040)

Abstract

The active vision and attention-for-action frameworks propose that in organisms attention and perception are closely integrated with action and learning. This work proposes a novel bio-inspired integrated neural-network architecture that on one side uses attention to guide and furnish the parameters to action, and on the other side uses the effects of action to train the task-oriented top-down attention components of the system. The architecture is tested both with a simulated and a real camera-arm robot engaged in a reaching task. The results highlight the computational opportunities and difficulties deriving from a close integration of attention, action and learning.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Dimitri Ognibene
    • 1
    • 2
  • Christian Balkenius
    • 3
  • Gianluca Baldassarre
    • 1
  1. 1.Lab. of Autonomous Robotics and Artificial Life, Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle RicercheLARAL-ISTC-CNRRomaItaly
  2. 2.DIST, Dip. di Informatica Sistemistica e TelematicaUniversita’ di GenovaGenovaItaly
  3. 3.Lund University Cognitive ScienceLundSweden

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