Lepora, N.F., Sullivan, J.C., Mitchinson, B. et al. (3 more authors) (2012) Brain-inspired Bayesian perception for biomimetic robot touch. In: Robotics and Automation (ICRA), 2012 IEEE International Conference on. 2012 IEEE International Conference on Robotics and Automation, 14-18 May 2012, St Paul, MN, USA. IEEE , pp. 5111-5116. ISBN 978-1-4673-1403-9
Abstract
Studies of decision making in animals suggest a neural mechanism of evidence accumulation for competing percepts according to Bayesian sequential analysis. This model of perception is embodied here in a biomimetic tactile sensing robot based on the rodent whisker system. We implement simultaneous perception of object shape and location using two psychological test paradigms: first, a free-response paradigm in which the agent decides when to respond, implemented with Bayesian sequential analysis; and second an interrogative paradigm in which the agent responds after a fixed interval, implemented with maximum likelihood estimation. A benefit of free-response Bayesian perception is that it allows tuning of reaction speed against accuracy. In addition, we find that large gains in decision performance are achieved with unforced responses that allow null decisions on ambiguous data. Therefore free-response Bayesian perception offers benefits for artificial systems that make them more animal-like in behavior.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2012 IEEE. This is an author produced version of a paper subsequently published in Robotics and Automation (ICRA), 2012 IEEE International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 15:44 |
Last Modified: | 19 Dec 2022 13:34 |
Published Version: | https://doi.org/10.1109/ICRA.2012.6224815 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA.2012.6224815 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108440 |