Internal Simulations for Behaviour Selection and Recognition

In this paper, we present internal simulations as a methodology for human behaviour recognition and understanding. The internal simulations consist of pairs of inverse forward models representing sensorimotor actions. The main advantage of this method is that it both serves for action selection and prediction as well as recognition. We present several human-robot interaction experiments where the robot can recognize the behaviour of the human reaching for objects.

[1]  K. Doya,et al.  A unifying computational framework for motor control and social interaction. , 2003, Philosophical transactions of the Royal Society of London. Series B, Biological sciences.

[2]  D M Wolpert,et al.  Multiple paired forward and inverse models for motor control , 1998, Neural Networks.

[3]  Wolfram Schenck,et al.  Bootstrapping Cognition from Behavior - A Computerized Thought Experiment , 2008, Cogn. Sci..

[4]  D. Wolpert,et al.  Why can't you tickle yourself? , 2000, Neuroreport.

[5]  D. Wolpert,et al.  Motor prediction , 2001, Current Biology.

[6]  ChrisD . Frith.  The Cognitive Neuropsychology of Schizophrenia , 1992 .

[7]  Baris Akgün,et al.  Action Recognition Through an Action Generation Mechanism , 2010, EpiRob.

[8]  N. Sebanz,et al.  Action Perception from a Common Coding Perspective , 2013 .

[9]  G. Knoblich,et al.  The case for motor involvement in perceiving conspecifics. , 2005, Psychological bulletin.

[10]  W. Prinz.  Perception and Action Planning , 1997 .

[11]  Mitsuo Kawato,et al.  MOSAIC Model for Sensorimotor Learning and Control , 2001, Neural Computation.

[12]  L. Barsalou.  Grounded cognition. , 2008, Annual review of psychology.

[13]  N. Troje.  Decomposing biological motion: a framework for analysis and synthesis of human gait patterns. , 2002, Journal of vision.

[14]  Yiannis Demiris,et al.  Perceiving the unusual: Temporal properties of hierarchical motor representations for action perception , 2006, Neural Networks.

[15]  D M Wolpert,et al.  Predicting the Consequences of Our Own Actions: The Role of Sensorimotor Context Estimation , 1998, The Journal of Neuroscience.

[16]  Bruno Lara,et al.  Coupled inverse-forward models for action execution leading to tool-use in a humanoid robot , 2012, 2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[17]  Michael I. Jordan,et al.  Forward Models: Supervised Learning with a Distal Teacher , 1992, Cogn. Sci..

[18]  V. Gallese.  Before and below ‘theory of mind’: embodied simulation and the neural correlates of social cognition , 2007, Philosophical Transactions of the Royal Society B: Biological Sciences.

[19]  S. Baron-Cohen.  Mindblindness: An Essay on Autism and Theory of Mind , 1997 .

[20]  Verena V. Hafner,et al.  Human-Humanoid walking gait recognition , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[21]  Zoubin Ghahramani,et al.  Computational principles of movement neuroscience , 2000, Nature Neuroscience.

[22]  Anthony M. Dearden.  Developmental learning of internal models for robotics , 2008 .

[23]  Verena V. Hafner,et al.  Random movement strategies in self-exploration for a humanoid robot , 2011, 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[24]  HighWire Press.  Philosophical Transactions of the Royal Society of London , 1781, The London Medical Journal.