Uncertainty in action selection and sequencing.

执行由多个子任务组成的复杂任务是现实世界中常见的挑战。任何第一次组装宜家家具的人都熟悉这个过程中的不确定性。感官和知觉的不确定性可以通过目标驱动的注视转移来减少，以在正确的时间获取任务相关的信息。在不确定性条件下的大规模运动（例如到达）的规划被认为涉及多个运动程序之间的竞争。这种竞争的逐渐解决反映在特征性的到达路径中。因此，凝视和肢体的运动可以提供对智能体在任务执行过程中特定时间点的不确定性水平的洞察。然而，虽然凝视已经在自然主义的顺序任务中进行了研究，但大多数关于运动规划中的不确定性的工作都涉及简单的“单发”运动。在这个项目中，我们面临的挑战是理解和模拟决策层次中不同层次的不确定性，从目标和子目标规划到基本动作。我们将介绍不同形式的不确定性的背景下，复杂的，顺序的任务，并使用连续测量范式来识别不确定性和它的决议，从运动行为。除了基本的理论和经验的兴趣，这项工作有可能告知机器人和人机交互领域，以及补充新的交付方法，用于技术和/或复杂任务的培训。

The execution of a complex task, comprised of multiple sub-tasks, is a frequent realworldchallenge. Uncertainty in this process will be familiar to anybody that has hadto assemble IKEA furniture for the first time. Sensory and perceptual uncertaintymay be reduced through goal-driven gaze shifts to acquire task-relevant informationat the right time. The planning of larger scale movements (e.g. reaching) underconditions of uncertainty is thought to involve competition between multiple motorprogrammes. The gradual resolution of this competition is reflected in characteristicreach-paths. As such, movements of both gaze and limbs may provide insight intothe agent's level of uncertainty at a particular point in time during task execution.However, while gaze has been studied in naturalistic sequential tasks, most of thework on uncertainty in motor planning involves simple, "single-shot" movements. Thechallenge taken up here in this project is to understand and model uncertainty atdifferent levels in the hierarchy of decision making, from goal and sub-goal planningdown to basic movements. We will introduce different forms of uncertainty in thecontext of complex, sequential tasks and use continuous measurement paradigms toidentify uncertainty and its resolution from motor behaviour. Beyond basic theoreticaland empirical interest, this work has the potential to inform the fields of robotics andhuman-computer interaction, as well as to supplement novel delivery methods fortraining in technical and/or complex tasks.