Emergence of interactive behaviors between two robots by prediction error minimization mechanism

Yiwen Chen*, Shingo Murata, Hiroaki Arie, Tetsuya Ogata, Jun Tani, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

This study demonstrates that the prediction error minimization (PEM) mechanism can account for the emergence of reciprocal interaction between two cognitive agents. During interactive processes, alternation of forming and deforming interactions may be triggered by various internal and external causes. We focus in particular on external causes derived from a dynamic and uncertain environment. Two small humanoid robots controlled by an identical dynamic neural network model using the PEM mechanism were trained to achieve a set of coherent ball-playing interactions between them. The two robots predict each other in a top-down way while they try to minimize the prediction errors derived from the unstable ball dynamics or the external cause in a bottom-up way by using the PEM mechanism. The experimental results showed that switching among the set of trained interactive ball plays between the two robots appears spontaneously. The analysis clarified how each complementary behavior can be generated via mutual adaptation between the two robots by undertaking top-down and bottom-up interaction in each individual dynamic neural network model by using the PEM mechanism.

本文言語English
ホスト出版物のタイトル2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ302-307
ページ数6
ISBN(電子版)9781509050697
DOI
出版ステータスPublished - 2017 2 7
イベント2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016 - Cergy-Pontoise, France
継続期間: 2016 9 192016 9 22

出版物シリーズ

名前2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016

Other

Other2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2016
国/地域France
CityCergy-Pontoise
Period16/9/1916/9/22

ASJC Scopus subject areas

  • 人工知能
  • 認知神経科学
  • 発達神経科学

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