A robotic model of the development of gaze following

Hyundo Kim, H. Jasso, G. Deák, J. Triesch
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引用次数: 23

Abstract

For humanoid robots, the skill of gaze following is a foundational component in social interaction and imitation learning.We present a robotic system capable of learning the gaze following behavior in a real-world environment. First, the system learns to detect salient objects and to distinguish a caregiverpsilas head poses in a semi-autonomous manner. Then we present multiple scenes containing different combinations of objects and head poses to the robot head. The system learns to associate the detected head pose with correct spatial location of where potentially ldquorewardingrdquo objects would be using a biologically plausible reinforcement learning mechanism.
注视跟随发展的机器人模型
对于类人机器人来说,注视跟随技能是社交互动和模仿学习的基础组成部分。我们提出了一个能够在现实环境中学习注视跟随行为的机器人系统。首先,该系统学会检测显著物体,并以半自主的方式区分看护者的头部姿势。然后,我们将包含不同物体组合和头部姿势的多个场景呈现给机器人头部。该系统学习将检测到的头部姿势与正确的空间位置联系起来,使用生物学上合理的强化学习机制,在那里可能会有不符合要求的物体。
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