NDLI: Active Bayesian perception and reinforcement learning

Content Provider	IEEE Xplore Digital Library
Author	Lepora, N.F. Martinez-Hernandez, U. Pezzulo, G. Prescott, T.J.
Copyright Year	2013
Description	Author affiliation: SCentRo, Univ. of Sheffield, Sheffield, UK (Lepora, N.F.; Martinez-Hernandez, U.; Prescott, T.J.) \|\| ISTC, Rome, Italy (Pezzulo, G.)
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.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4735
Ending Page	4740
File Size	1899061
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bayes methods Learning (artificial intelligence) Accuracy Decision making Tactile sensors
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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