Emergence of interactive behaviors between two robots by prediction error minimization mechanism
Emergence of interactive behaviors between two robots by prediction error minimization mechanism
复制标题
通过预测误差最小化机制出现两个机器人之间的交互行为
DOI：
10.1109/devlrn.2016.7846838
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
S. Sugano
中科院分区：
文献类型：
--
作者：
Yiwen Chen;Shingo Murata;H. Arie;T. Ogata;J. Tani;S. Sugano
本研究表明，预测误差最小化（PEM）机制可以解释两个认知主体之间相互作用的出现。在相互作用过程中，各种内因和外因可能引发形成与变形相互作用的交替。我们特别关注来自动态和不确定环境的外部原因。利用PEM机制，对两个小型人形机器人进行训练，使其在相同的动态神经网络模型控制下实现一组连贯的打球交互。两个机器人采用自顶向下的方式相互预测，同时利用PEM机构自下而上地减小由于球动力学不稳定或外因引起的预测误差。实验结果表明，两个机器人之间训练好的互动球之间的切换是自发的。分析阐明了如何利用PEM机制在每个单独的动态神经网络模型中进行自顶向下和自底向上的交互，从而通过两个机器人之间的相互适应产生每种互补行为。
This study demonstrates that the prediction error minimization (PEM) mechanism can account for the emergence of reciprocal interaction between two cognitive agents. During interactive processes, alternation of forming and deforming interactions may be triggered by various internal and external causes. We focus in particular on external causes derived from a dynamic and uncertain environment. Two small humanoid robots controlled by an identical dynamic neural network model using the PEM mechanism were trained to achieve a set of coherent ball-playing interactions between them. The two robots predict each other in a top-down way while they try to minimize the prediction errors derived from the unstable ball dynamics or the external cause in a bottom-up way by using the PEM mechanism. The experimental results showed that switching among the set of trained interactive ball plays between the two robots appears spontaneously. The analysis clarified how each complementary behavior can be generated via mutual adaptation between the two robots by undertaking top-down and bottom-up interaction in each individual dynamic neural network model by using the PEM mechanism.
通过响应预测和习惯/去习惯共同创建人机交互规则
DOI：
--
发表时间：
2009
期刊：
影响因子：
--
作者：
Takatsugu Kuriyama;Yasuo Kuniyoshi
通讯作者：
Yasuo Kuniyoshi