Predictive learning with uncertainty estimation for modeling infants' cognitive development with caregivers: A neurorobotics experiment

Shingo Murata, Saki Tomioka, Ryoichi Nakajo, Tatsuro Yamada, Hiroaki Arie, Tetsuya Ogata, Shigeki Sugano

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Dynamic interactions with caregivers are essential for infants to develop cognitive abilities, including aspects of action, perception, and attention. We hypothesized that these abilities can be acquired through the predictive learning of sensory inputs including their uncertainty (inverse precision) in terms of variance. To examine our hypothesis from the perspective of cognitive developmental robotics, we conducted a neurorobotics experiment involving a ball-playing interaction task between a human experimenter representing a caregiver and a small humanoid robot representing an infant. The robot was equipped with a dynamic generative model called a stochastic continuous-time recurrent neural network (S-CTRNN). The S-CTRNN learned to generate predictions about both the visuo-proprioceptive states of the robot and the uncertainty of these states by minimizing a negative log-likelihood consisting of log-uncertainty and precision-weighted prediction error. The experimental results showed that predictive learning with uncertainty estimation enabled the robot to acquire infant-like cognitive abilities through dynamic interactions with the experimenter. We also discuss the effects of infant-directed modifications observed in caregiver-infant interactions on the development of these abilities.

本文言語English
ホスト出版物のタイトル5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ302-307
ページ数6
ISBN(電子版)9781467393201
DOI
出版ステータスPublished - 2015 12月 2
イベント5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015 - Providence, United States
継続期間: 2015 8月 132015 8月 16

出版物シリーズ

名前5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015

Other

Other5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015
国/地域United States
CityProvidence
Period15/8/1315/8/16

ASJC Scopus subject areas

  • 人工知能

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