NDLI: A Cognitive Control Architecture for the Perception

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A Cognitive Control Architecture for the Perception–Action Cycle in Robots and Agents

Content Provider	Springer Nature Link
Author	Cutsuridis, Vassilis Taylor, John G.
Copyright Year	2013
Abstract	We show aspects of brain processing on how visual perception, recognition, attention, cognitive control, value attribution, decision-making, affordances and action can be melded together in a coherent manner in a cognitive control architecture of the perception–action cycle for visually guided reaching and grasping of objects by a robot or an agent. The work is based on the notion that separate visuomotor channels are activated in parallel by specific visual inputs and are continuously modulated by attention and reward, which control a robot’s/agent’s action repertoire. The suggested visual apparatus allows the robot/agent to recognize both the object’s shape and location, extract affordances and formulate motor plans for reaching and grasping. A focus-of-attention signal plays an instrumental role in selecting the correct object in its corresponding location as well as selects the most appropriate arm reaching and hand grasping configuration from a list of other configurations based on the success of previous experiences. The cognitive control architecture consists of a number of neurocomputational mechanisms heavily supported by experimental brain evidence: spatial saliency, object selectivity, invariance to object transformations, focus of attention, resonance, motor priming, spatial-to-joint direction transformation and volitional scaling of movement.
Starting Page	383
Ending Page	395
Page Count	13
File Format	PDF
ISSN	18669956
Journal	Cognitive Computation
Volume Number	5
Issue Number	3
e-ISSN	18669964
Language	English
Publisher	Springer US
Publisher Date	2013-04-11
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Saliency Attention Adaptive resonance theory Decision-making Value Reaching Grasping Affordances Perception–action cycle Neurosciences Computation by Abstract Devices Artificial Intelligence (incl. Robotics) Computational Biology/Bioinformatics
Content Type	Text
Resource Type	Article
Subject	Cognitive Neuroscience Computer Science Applications Computer Vision and Pattern Recognition

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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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