Lepora, N.F., Martinez-Hernandez, U., Pezzulo, G. et al. (1 more author) (2013) Active Bayesian perception and reinforcement learning. In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, November 3‐8, 2013, Tokyo, Japan. IEEE , pp. 4735-4740. ISBN 978-1-4673-6358-7
Abstract
In a series of papers, we have formalized an active Bayesian perception approach for robotics based on recent progress in understanding animal perception. However, an issue for applied robot perception is how to tune this method to a task, using: (i) a belief threshold that adjusts the speed-accuracy tradeoff; and (ii) an active control strategy for relocating the sensor e.g. to a preset fixation point. Here we propose that these two variables should be learnt by reinforcement from a reward signal evaluating the decision outcome. We test this claim with a biomimetic fingertip that senses surface curvature under uncertainty about contact location. Appropriate formulation of the problem allows use of multi-armed bandit methods to optimize the threshold and fixation point of the active perception. In consequence, the system learns to balance speed versus accuracy and sets the fixation point to optimize both quantities. Although we consider one example in robot touch, we expect that the underlying principles have general applicability.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2013 IEEE. This is an author produced version of a paper subsequently published in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ 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 Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) The University of Sheffield > Faculty of Science (Sheffield) > Department of Psychology (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 21 Feb 2017 14:27 |
Last Modified: | 13 Apr 2017 12:42 |
Published Version: | https://doi.org/10.1109/IROS.2013.6697038 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/IROS.2013.6697038 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:108458 |