Visual attention and learning of a cognitive robot
This paper introduces experiments of visual attention and learning of a mobile robot. The recurrent neural network (RNN) learns the sequence of events encountered during navigation incrementally as episodic memories so that the RNN can make prediction based on such sequences in the future. The visual module has two task processes to execute, namely object recognition and wall-following. Attention between these two tasks is switched by means of the top-down prediction made by the RNN. The strength of the top-down prediction acting on the vision processes is modulated dynamically using the measurement of learning status of the RNN. Our experimental results showed that the robot adapts to the environment in the course of dynamical interactions between its learning, attention and behavioral functions.
Unable to display preview. Download preview PDF.
- 1.J.J. Hopfield and D.W. Tank. Neural computation of decision in optimization problems. Biological Cybernetics, Vol. 52, pp. 141–152, 1985.Google Scholar
- 2.M.I. Jordan and D.E. Rumelhart. Forward models: supervised learning with a distal teacher. Cognitive Science, Vol. 16, pp. 307–354, 1992.Google Scholar
- 3.T. Kohonen. Self-organized formation of topographically correct feature maps. Biological Cybernetics, Vol. 43, pp. 59–69, 1982.Google Scholar
- 4.L.R. Squire, N.J. Cohen, and L. Nadel. The medial temporal region and memory consolidation: A new hypothesis. In H. Weingartner and E. Parker, editors, Memory consolidation, pp. 185–210. Erlbaum, Hillsdale, N.J., 1984.Google Scholar
- 5.J. Tani. Model-Based Learning for Mobile Robot Navigation from the Dynamical Systems Perspective. IEEE Trans. System, Man and Cybernetics Part B. Special issue on learning autonomous robots, Vol. 26, No. 3, pp. 421–436, 1996.Google Scholar
- 6.J. Tani, J. Yamamoto, and H. Nishi. Dynamical Interactions between Learning, Visual Attention, and Behavior. In P. Husbands and I. Harvey, editors, Proc. of the Fourth European Conf. of Artificial Life (ECAL'97). Cambridge, MA: MIT press, 1997.Google Scholar
- 7.L.G. Ungerleider and M. Mishkin. Two cortical visual systems. In D.G. Ingle, M.A. Goodale, and R.J. Mansfield, editors, Analysis of Visual Behavior. Cambridge, MA: MIT Press, 1982.Google Scholar