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Bootstrapping perception using information theory: case studies in a quadruped robot running on different grounds


Schmidt, Nico; Hoffmann, Matej; Nakajima, Kohei; Pfeifer, Rolf (2013). Bootstrapping perception using information theory: case studies in a quadruped robot running on different grounds. Advances in Complex Systems, 16:1250078.

Abstract

Animals and humans engage in an enormous variety of behaviors which are orchestrated through a complex interaction of physical and informational processes: The physical interaction of the bodies with the environment is intimately coupled with informational processes in the animal's brain. A crucial step toward the mastery of all these behaviors seems to be to understand the flows of information in the sensorimotor networks. In this study, we have performed a quantitative analysis in an artificial agent — a running quadruped robot with multiple sensory modalities — using tools from information theory (transfer entropy). Starting from very little prior knowledge, through systematic variation of control signals and environment, we show how the agent can discover the structure of its sensorimotor space, identify proprioceptive and exteroceptive sensory modalities, and acquire a primitive body schema. In summary, we show how the analysis of directed information flows in an agent's sensorimotor networks can be used to bootstrap its perception and development.Read More: http://www.worldscientific.com/doi/abs/10.1142/S0219525912500786

Abstract

Animals and humans engage in an enormous variety of behaviors which are orchestrated through a complex interaction of physical and informational processes: The physical interaction of the bodies with the environment is intimately coupled with informational processes in the animal's brain. A crucial step toward the mastery of all these behaviors seems to be to understand the flows of information in the sensorimotor networks. In this study, we have performed a quantitative analysis in an artificial agent — a running quadruped robot with multiple sensory modalities — using tools from information theory (transfer entropy). Starting from very little prior knowledge, through systematic variation of control signals and environment, we show how the agent can discover the structure of its sensorimotor space, identify proprioceptive and exteroceptive sensory modalities, and acquire a primitive body schema. In summary, we show how the analysis of directed information flows in an agent's sensorimotor networks can be used to bootstrap its perception and development.Read More: http://www.worldscientific.com/doi/abs/10.1142/S0219525912500786

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8 citations in Web of Science®
9 citations in Scopus®
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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:2013
Deposited On:14 Jan 2013 16:07
Last Modified:05 Apr 2016 16:16
Publisher:World Scientific Publishing Co. Pte. Ltd.
ISSN:0219-5259
Publisher DOI:https://doi.org/10.1142/S0219525912500786
Other Identification Number:merlin-id:7616

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