On the sense of agency and of object permanence in robots
On the sense of agency and of object permanence in robots
复制标题
论机器人的代理感和客体持久性
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
V. Hafner
中科院分区：
文献类型：
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作者：
Sarah Bechtle;G. Schillaci;V. Hafner
这项工作研究了人形机器人中物体持久感的发展。基于发展心理学和神经科学的发现，我们将客体持久感发展背后的机制与代理感发展背后的机制以及感觉活动的内部模拟过程联系起来。在本文中，我们提出了两个实验。首先，人形机器人必须学习其运动与从视觉输入中感知到的感官结果之间的前向关系。特别是，我们实现了一种自我监控机制，使机器人能够区分自身产生的运动和外部事件产生的运动。在第二个实验中，一旦学会了这种映射，我们就会利用自我监控机制来抑制预期运动的预测视觉后果。我们推测这个过程可以发展物体持久性的感觉。我们将证明，利用这些预测，机器人可以维持增强的模拟图像，其中由于感觉衰减过程，被机器人手臂的运动遮挡的物体仍然可见。
This work investigates the development of the sense of object permanence in humanoid robots. Based on findings from developmental psychology and from neuroscience, we link the mechanisms behind the development of the sense of object permanence to those behind the development of sense of agency and to processes of internal simulation of sensory activity. In this paper, we present two experiments. First, a humanoid robot has to learn the forward relationship between its movements and their sensory consequences perceived from the visual input. In particular, we implement a self-monitoring mechanism that allows the robot to distinguish between self-generated movements and those generated by external events. In a second experiment, once having learned this mapping, we exploit the self-monitoring mechanism to suppress the predicted visual consequences of intended movements. We speculate that this process can allow for the development of the sense of object permanence. We will show that, using these predictions, the robot maintains an enhanced simulated image where an object occluded by the movement of the robot arm is still visible, due to sensory attenuation processes.