7,061 research outputs found
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
A predictive processing theory of sensorimotor contingencies: explaining the puzzle of perceptual presence and its absence in synesthesia
Normal perception involves experiencing objects within perceptual scenes as real, as existing in the world. This property of “perceptual presence” has motivated “sensorimotor theories” which understand perception to involve the mastery of sensorimotor contingencies. However, the mechanistic basis of sensorimotor contingencies and their mastery has remained unclear. Sensorimotor theory also struggles to explain instances of perception, such as synesthesia, that appear to lack perceptual presence and for which relevant sensorimotor contingencies are difficult to identify. On alternative “predictive processing” theories, perceptual content emerges from probabilistic inference on the external causes of sensory signals, however, this view has addressed neither the problem of perceptual presence nor synesthesia. Here, I describe a theory of predictive perception of sensorimotor contingencies which (1) accounts for perceptual presence in normal perception, as well as its absence in synesthesia, and (2) operationalizes the notion of sensorimotor contingencies and their mastery. The core idea is that generative models underlying perception incorporate explicitly counterfactual elements related to how sensory inputs would change on the basis of a broad repertoire of possible actions, even if those actions are not performed. These “counterfactually-rich” generative models encode sensorimotor contingencies related to repertoires of sensorimotor dependencies, with counterfactual richness determining the degree of perceptual presence associated with a stimulus. While the generative models underlying normal perception are typically counterfactually rich (reflecting a large repertoire of possible sensorimotor dependencies), those underlying synesthetic concurrents are hypothesized to be counterfactually poor. In addition to accounting for the phenomenology of synesthesia, the theory naturally accommodates phenomenological differences between a range of experiential states including dreaming, hallucination, and the like. It may also lead to a new view of the (in)determinacy of normal perception
The cybernetic Bayesian brain: from interoceptive inference to sensorimotor contingencies
Is there a single principle by which neural operations can account for perception, cognition, action, and even consciousness? A strong candidate is now taking shape in the form of “predictive processing”. On this theory, brains engage in predictive inference on the causes of sensory inputs by continuous minimization of prediction errors or informational “free energy”. Predictive processing can account, supposedly, not only for perception, but also for action and for the essential contribution of the body and environment in structuring sensorimotor interactions. In this paper I draw together some recent developments within predictive processing that involve predictive modelling of internal physiological states (interoceptive inference), and integration with “enactive” and “embodied” approaches to cognitive science (predictive perception of sensorimotor contingencies). The upshot is a development of predictive processing that originates, not in Helmholtzian perception-as-inference, but rather in 20th-century cybernetic principles that emphasized homeostasis and predictive control. This way of thinking leads to (i) a new view of emotion as active interoceptive inference; (ii) a common predictive framework linking experiences of body ownership, emotion, and exteroceptive perception; (iii) distinct interpretations of active inference as involving disruptive and disambiguatory—not just confirmatory—actions to test perceptual hypotheses; (iv) a neurocognitive operationalization of the “mastery of sensorimotor contingencies” (where sensorimotor contingencies reflect the rules governing sensory changes produced by various actions); and (v) an account of the sense of subjective reality of perceptual contents (“perceptual presence”) in terms of the extent to which predictive models encode potential sensorimotor relations (this being “counterfactual richness”). This is rich and varied territory, and surveying its landmarks emphasizes the need for experimental tests of its key contributions
Vision systems with the human in the loop
The emerging cognitive vision paradigm deals with vision systems that apply machine learning and automatic reasoning in order to learn from what they perceive. Cognitive vision systems can rate the relevance and consistency of newly acquired knowledge, they can adapt to their environment and thus will exhibit high robustness. This contribution presents vision systems that aim at flexibility and robustness. One is tailored for content-based image retrieval, the others are cognitive vision systems that constitute prototypes of visual active memories which evaluate, gather, and integrate contextual knowledge for visual analysis. All three systems are designed to interact with human users. After we will have discussed adaptive content-based image retrieval and object and action recognition in an office environment, the issue of assessing cognitive systems will be raised. Experiences from psychologically evaluated human-machine interactions will be reported and the promising potential of psychologically-based usability experiments will be stressed
Interoceptive inference, emotion, and the embodied self
The concept of the brain as a prediction machine has enjoyed a resurgence in the context of the Bayesian brain and predictive coding approaches within cognitive science. To date, this perspective has been applied primarily to exteroceptive perception (e.g., vision, audition), and action. Here, I describe a predictive, inferential perspective on interoception: ‘interoceptive inference’ conceives of subjective feeling states (emotions) as arising from actively-inferred generative (predictive) models of the causes of interoceptive afferents. The model generalizes ‘appraisal’ theories that view emotions as emerging from cognitive evaluations of physiological changes, and it sheds new light on the neurocognitive mechanisms that underlie the experience of body ownership and conscious selfhood in health and in neuropsychiatric illness
Active interoceptive inference and the emotional brain
We review a recent shift in conceptions of interoception and its relationship to hierarchical inference in the brain. The notion of interoceptive inference means that bodily states are regulated by autonomic reflexes that are enslaved by descending predictions from deep generative models of our internal and external milieu. This re-conceptualization illuminates several issues in cognitive and clinical neuroscience with implications for experiences of selfhood and emotion. We first contextualize interoception in terms of active (Bayesian) inference in the brain, highlighting its enactivist (embodied) aspects. We then consider the key role of uncertainty or precision and how this might translate into neuromodulation. We next examine the implications for understanding the functional anatomy of the emotional brain, surveying recent observations on agranular cortex. Finally, we turn to theoretical issues, namely, the role of interoception in shaping a sense of embodied self and feelings. We will draw links between physiological homoeostasis and allostasis, early cybernetic ideas of predictive control and hierarchical generative models in predictive processing. The explanatory scope of interoceptive inference ranges from explanations for autism and depression, through to consciousness. We offer a brief survey of these exciting developments
Vanilla PP for Philosophers: A Primer on Predictive Processing
The goal of this short chapter, aimed at philosophers, is to provide an overview and brief explanation of some central concepts involved in predictive processing (PP). Even those who consider themselves experts on the topic may find it helpful to see how the central terms are used in this collection. To keep things simple, we will first informally define a set of features important to predictive processing, supplemented by some short explanations and an alphabetic glossary.
The features described here are not shared in all PP accounts. Some may not be necessary for an individual model; others may be contested. Indeed, not even all authors of this collection will accept all of them. To make this transparent, we have encouraged contributors to indicate briefly which of the features are necessary to support the arguments they provide, and which (if any) are incompatible with their account. For the sake of clarity, we provide the complete list here, very roughly ordered by how central we take them to be for “Vanilla PP” (i.e., a formulation of predictive processing that will probably be accepted by most researchers working on this topic). More detailed explanations will be given below. Note that these features do not specify individually necessary and jointly sufficient conditions for the application of the concept of “predictive processing”. All we currently have is a semantic cluster, with perhaps some overlapping sets of jointly sufficient criteria. The framework is still developing, and it is difficult, maybe impossible, to provide theory-neutral explanations of all PP ideas without already introducing strong background assumptions
Closed-loop Bayesian Semantic Data Fusion for Collaborative Human-Autonomy Target Search
In search applications, autonomous unmanned vehicles must be able to
efficiently reacquire and localize mobile targets that can remain out of view
for long periods of time in large spaces. As such, all available information
sources must be actively leveraged -- including imprecise but readily available
semantic observations provided by humans. To achieve this, this work develops
and validates a novel collaborative human-machine sensing solution for dynamic
target search. Our approach uses continuous partially observable Markov
decision process (CPOMDP) planning to generate vehicle trajectories that
optimally exploit imperfect detection data from onboard sensors, as well as
semantic natural language observations that can be specifically requested from
human sensors. The key innovation is a scalable hierarchical Gaussian mixture
model formulation for efficiently solving CPOMDPs with semantic observations in
continuous dynamic state spaces. The approach is demonstrated and validated
with a real human-robot team engaged in dynamic indoor target search and
capture scenarios on a custom testbed.Comment: Final version accepted and submitted to 2018 FUSION Conference
(Cambridge, UK, July 2018
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