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Exploring Internal Simulation of Perception in Mobile Robots

Jirenhed, Dan-Anders LU ; Hesslow, Germund LU and Ziemke, Tom (2001) In Lund University Cognitive Studies 86. p.107-113
Abstract
Based on a neuroscientific hypothesis, this paper explores the possibility of an ‘inner world’ based on internal simulation of perception. We present three sets of experiments with a possible minimal model, using a simulated Khepera robot controlled by a simple recurrent connectionist network. Using an evolutionary algorithm the robots are trained on increasingly complex tasks. In the first experiment, serving as a baseline, robots are simply trained to map sensory input to motor output such that they move around in an environment without collisions. In the second experiment robots are additionally trained on predicting the next time step’s sensory input. In the third experiment, finally, the robot’s own prediction replaces the actual... (More)
Based on a neuroscientific hypothesis, this paper explores the possibility of an ‘inner world’ based on internal simulation of perception. We present three sets of experiments with a possible minimal model, using a simulated Khepera robot controlled by a simple recurrent connectionist network. Using an evolutionary algorithm the robots are trained on increasingly complex tasks. In the first experiment, serving as a baseline, robots are simply trained to map sensory input to motor output such that they move around in an environment without collisions. In the second experiment robots are additionally trained on predicting the next time step’s sensory input. In the third experiment, finally, the robot’s own prediction replaces the actual sensory input in order to investigate its capability to act ‘blindly’, i.e. in the temporary absence of external stimuli. Although only the first two experiments give positive results, we conclude that the experimental framework presented here should turn out useful in the investigation of more complex artificial neural models. (Less)
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author
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
cognitive, sensory anticipation, inner world, simulation of perception, representation, robotics
in
Lund University Cognitive Studies
editor
Arras, Kai Oliver; Baerveldt, Albert-Jan; Balkenius, Christian; Burgard, Wolfram and Siegwart, Roland
volume
86
pages
7 pages
publisher
Lund University
language
English
LU publication?
no
id
e37372e7-4e38-4968-b7d6-e15924c3ed16 (old id 4407144)
date added to LUP
2014-09-16 10:27:54
date last changed
2016-06-29 09:09:26
@misc{e37372e7-4e38-4968-b7d6-e15924c3ed16,
  abstract     = {Based on a neuroscientific hypothesis, this paper explores the possibility of an ‘inner world’ based on internal simulation of perception. We present three sets of experiments with a possible minimal model, using a simulated Khepera robot controlled by a simple recurrent connectionist network. Using an evolutionary algorithm the robots are trained on increasingly complex tasks. In the first experiment, serving as a baseline, robots are simply trained to map sensory input to motor output such that they move around in an environment without collisions. In the second experiment robots are additionally trained on predicting the next time step’s sensory input. In the third experiment, finally, the robot’s own prediction replaces the actual sensory input in order to investigate its capability to act ‘blindly’, i.e. in the temporary absence of external stimuli. Although only the first two experiments give positive results, we conclude that the experimental framework presented here should turn out useful in the investigation of more complex artificial neural models.},
  author       = {Jirenhed, Dan-Anders and Hesslow, Germund and Ziemke, Tom},
  editor       = {Arras, Kai Oliver and Baerveldt, Albert-Jan and Balkenius, Christian and Burgard, Wolfram and Siegwart, Roland},
  keyword      = {cognitive,sensory anticipation,inner world,simulation of perception,representation,robotics},
  language     = {eng},
  pages        = {107--113},
  publisher    = {ARRAY(0xb5ba208)},
  series       = {Lund University Cognitive Studies},
  title        = {Exploring Internal Simulation of Perception in Mobile Robots},
  volume       = {86},
  year         = {2001},
}