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

    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.

    元の言語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
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ302-307
    ページ数6
    ISBN(印刷物)9781467393201
    DOI
    出版物ステータスPublished - 2015 12 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 132015 8 16

    Other

    Other5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015
    United States
    Providence
    期間15/8/1315/8/16

    Fingerprint

    Robots
    Recurrent neural networks
    Experiments
    Dynamic models
    Robotics
    Uncertainty

    ASJC Scopus subject areas

    • Artificial Intelligence

    これを引用

    Murata, S., Tomioka, S., Nakajo, R., Yamada, T., Arie, H., Ogata, T., & Sugano, S. (2015). Predictive learning with uncertainty estimation for modeling infants' cognitive development with caregivers: A neurorobotics experiment. : 5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015 (pp. 302-307). [7346162] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/DEVLRN.2015.7346162

    Predictive learning with uncertainty estimation for modeling infants' cognitive development with caregivers : A neurorobotics experiment. / Murata, Shingo; Tomioka, Saki; Nakajo, Ryoichi; Yamada, Tatsuro; Arie, Hiroaki; Ogata, Tetsuya; Sugano, Shigeki.

    5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 302-307 7346162.

    研究成果: Conference contribution

    Murata, S, Tomioka, S, Nakajo, R, Yamada, T, Arie, H, Ogata, T & Sugano, S 2015, Predictive learning with uncertainty estimation for modeling infants' cognitive development with caregivers: A neurorobotics experiment. : 5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015., 7346162, Institute of Electrical and Electronics Engineers Inc., pp. 302-307, 5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015, Providence, United States, 15/8/13. https://doi.org/10.1109/DEVLRN.2015.7346162
    Murata S, Tomioka S, Nakajo R, Yamada T, Arie H, Ogata T その他. Predictive learning with uncertainty estimation for modeling infants' cognitive development with caregivers: A neurorobotics experiment. : 5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 302-307. 7346162 https://doi.org/10.1109/DEVLRN.2015.7346162
    Murata, Shingo ; Tomioka, Saki ; Nakajo, Ryoichi ; Yamada, Tatsuro ; Arie, Hiroaki ; Ogata, Tetsuya ; Sugano, Shigeki. / Predictive learning with uncertainty estimation for modeling infants' cognitive development with caregivers : A neurorobotics experiment. 5th Joint International Conference on Development and Learning and Epigenetic Robotics, ICDL-EpiRob 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 302-307
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