The role of world modeling and value judgement in perception

The world model is the intelligent system's best estimate of the external world. It provides an interface between sensory processing and task decomposition. A world model architecture that represents knowledge in terms of maps, entity frames, and state variables is proposed. This structure is hierarchically organized to provide multiple levels of resolution in space and time. Three types of map coordinates are important: egospheres, object coordinates, and world coordinates. Value judgments provide an evaluation of hypothesized plans and perceived objects. events, and situations. Evaluations produce value state variables that indicate cost, benefit, risk, priority, desirability, attractiveness, and uncertainty.<>