Learning to generate proactive and reactive behavior using a dynamic neural network model with time-varying variance prediction mechanism

Shingo Murata, Hiroaki Arie, Tetsuya Ogata, Shigeki Sugano, Jun Tani

研究成果: Article査読

6 被引用数 (Scopus)

抄録

This paper discusses a possible neurodynamic mechanism that enables self-organization of two basic behavioral modes, namely a proactive mode and a reactive mode, and of autonomous switching between these modes depending on the situation. In the proactive mode, actions are generated based on an internal prediction, whereas in the reactive mode actions are generated in response to sensory inputs in unpredictable situations. In order to investigate how these two behavioral modes can be self-organized and how autonomous switching between the two modes can be achieved, we conducted neurorobotics experiments by using our recently developed dynamic neural network model that has a capability to learn to predict time-varying variance of the observable variables. In a set of robot experiments under various conditions, the robot was required to imitate others movements consisting of alternating predictable and unpredictable patterns. The experimental results showed that the robot controlled by the neural network model was able to proactively imitate predictable patterns and reactively follow unpredictable patterns by autonomously switching its behavioral modes. Our analysis revealed that variance prediction mechanism can lead to self-organization of these abilities with sufficient robustness and generalization capabilities.

本文言語English
ページ(範囲)1189-1203
ページ数15
ジャーナルAdvanced Robotics
28
17
DOI
出版ステータスPublished - 2014 9 2
外部発表はい

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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