2:50 PM - 3:10 PM
[3G3-OS-18a-03] Active perception based on free-energy minimization on restricted Boltzmann machines
Keywords:Active Perception, Free Energy Principle, Emotion
A robot, which would like to respond quickly in the world, should select more informative signals to estimate the cause of its sensation (e.g., a state of the environment, a category of a handling object, an emotional state of interaction partner, etc.).
This paper proposes an active perception framework that selects the robot's action to perceive critical sensory signals based on a free-energy minimization in an energy-based model.
We employed a restricted Boltzmann machine as a fundamental component for an estimation network of the cause of sensations.
Our framework demonstrated better performance for the attention control in emotional human-robot interaction than other methods.
This paper proposes an active perception framework that selects the robot's action to perceive critical sensory signals based on a free-energy minimization in an energy-based model.
We employed a restricted Boltzmann machine as a fundamental component for an estimation network of the cause of sensations.
Our framework demonstrated better performance for the attention control in emotional human-robot interaction than other methods.