Use Your Illusion: Sensorimotor Self-simulation Allows Complex Agents to Plan with Incomplete Self-knowledge
Use Your Illusion: Sensorimotor Self-simulation Allows Complex Agents to Plan with Incomplete Self-knowledge
复制标题
发挥你的幻想：感觉运动自我模拟允许复杂的智能体以不完整的自我知识进行计划
DOI：
10.1007/11840541_25
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
M. Zuluaga
中科院分区：
文献类型：
--
作者：
R. Vaughan;M. Zuluaga
我们提出了一个移动的机器人的感觉运动自模拟的实际应用。使用它的自模拟，机器人可以推理它执行任务的能力，尽管没有它的许多内部过程的模型，因此没有办法创建一个先验的配置空间来搜索。我们建议，当任务具有高风险的机器人“死亡”时，这种任务的头部排练特别有用，因为它提供了一个源的负反馈在完美的安全性这种方法是一个有用的补充，现有的工作使用前向模型的预期行为最小系统被证明是有效的，在模拟和现实世界的实验的优点和局限性的方法进行了讨论，并建议今后的工作。
We present a practical application of sensorimotor self- simulation for a mobile robot Using its self-simulation, the robot can reason about its ability to perform tasks, despite having no model of many of its internal processes and thus no way to create an a priori configuration space in which to search We suggest that this in-the-head rehearsal of tasks is particularly useful when the tasks carry a high risk of robot “death”, as it provides a source of negative feedback in perfect safety This approach is a useful complement to existing work using forward models for anticipatory behaviour A minimal system is shown to be effective in simulation and real-world experiments The virtues and limitations of the approach are discussed and future work suggested.