اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدBody models in humans, animals, and robots
76
0
0.0
(
0
)
تأليف
Matej Hoffmann
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed by machines to some extent - yet, as is so often the case, the artificial creatures are lagging behind. The key foundation is an internal representation of the body that the agent - human, animal, or robot - has developed. In the biological realm, evidence has been accumulated by diverse disciplines giving rise to the concepts of body image, body schema, and others. In robotics, a model of the robot is an indispensable component that enables to control the machine. In this article I compare the character of body representations in biology with their robotic counterparts and relate that to the differences in performance that we observe. I put forth a number of axes regarding the nature of such body models: fixed vs. plastic, amodal vs. modal, explicit vs. implicit, serial vs. parallel, modular vs. holistic, and centralized vs. distributed. An interesting trend emerges: on many of the axes, there is a sequence from robot body models, over body image, body schema, to the body representation in lower animals like the octopus. In some sense, robots have a lot in common with Ian Waterman - the man who lost his body - in that they rely on an explicit, veridical body model (body image taken to the extreme) and lack any implicit, multimodal representation (like the body schema) of their bodies. I will then detail how robots can inform the biological sciences dealing with body representations and finally, I will study which of the features of the body in the brain should be transferred to robots, giving rise to more adaptive and resilient, self-calibrating machines.
قيم البحث
اقرأ أيضاً
As robots leave the controlled environments of factories to autonomously function in more complex, natural environments, they will have to respond to the inevitable fact that they will become damaged. However, while animals can quickly adapt to a wid
e variety of injuries, current robots cannot think outside the box to find a compensatory behavior when damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. Here we introduce an intelligent trial and error algorithm that allows robots to adapt to damage in less than two minutes, without requiring self-diagnosis or pre-specified contingency plans. Before deployment, a robot exploits a novel algorithm to create a detailed map of the space of high-performing behaviors: This map represents the robots intuitions about what behaviors it can perform and their value. If the robot is damaged, it uses these intuitions to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a compensatory behavior that works in spite of the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new technique will enable more robust, effective, autonomous robots, and suggests principles that animals may use to adapt to injury.
The recent success of brain-inspired deep neural networks (DNNs) in solving complex, high-level visual tasks has led to rising expectations for their potential to match the human visual system. However, DNNs exhibit idiosyncrasies that suggest their
visual representation and processing might be substantially different from human vision. One limitation of DNNs is that they are vulnerable to adversarial examples, input images on which subtle, carefully designed noises are added to fool a machine classifier. The robustness of the human visual system against adversarial examples is potentially of great importance as it could uncover a key mechanistic feature that machine vision is yet to incorporate. In this study, we compare the visual representations of white- and black-box adversarial examples in DNNs and humans by leveraging functional magnetic resonance imaging (fMRI). We find a small but significant difference in representation patterns for different (i.e. white- versus black- box) types of adversarial examples for both humans and DNNs. However, human performance on categorical judgment is not degraded by noise regardless of the type unlike DNN. These results suggest that adversarial examples may be differentially represented in the human visual system, but unable to affect the perceptual experience.
Learning from demonstration (LfD) is commonly considered to be a natural and intuitive way to allow novice users to teach motor skills to robots. However, it is important to acknowledge that the effectiveness of LfD is heavily dependent on the qualit
y of teaching, something that may not be assured with novices. It remains an open question as to the most effective way of guiding demonstrators to produce informative demonstrations beyond ad hoc advice for specific teaching tasks. To this end, this paper investigates the use of machine teaching to derive an index for determining the quality of demonstrations and evaluates its use in guiding and training novices to become better teachers. Experiments with a simple learner robot suggest that guidance and training of teachers through the proposed approach can lead to up to 66.5% decrease in error in the learnt skill.
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air Vehicles (FW
MAVs) hold great promise for closing this performance gap. However, design and control of such systems remain challenging due to various constraints. Here, we present an open source high fidelity dynamic simulation for FWMAVs to serve as a testbed for the design, optimization and flight control of FWMAVs. For simulation validation, we recreated the hummingbird-scale robot developed in our lab in the simulation. System identification was performed to obtain the model parameters. The force generation, open-loop and closed-loop dynamic response between simulated and experimental flights were compared and validated. The unsteady aerodynamics and the highly nonlinear flight dynamics present challenging control problems for conventional and learning control algorithms such as Reinforcement Learning. The interface of the simulation is fully compatible with OpenAI Gym environment. As a benchmark study, we present a linear controller for hovering stabilization and a Deep Reinforcement Learning control policy for goal-directed maneuvering. Finally, we demonstrate direct simulation-to-real transfer of both control policies onto the physical robot, further demonstrating the fidelity of the simulation.
Feedforward Convolutional Neural Networks (ffCNNs) have become state-of-the-art models both in computer vision and neuroscience. However, human-like performance of ffCNNs does not necessarily imply human-like computations. Previous studies have sugge
sted that current ffCNNs do not make use of global shape information. However, it is currently unclear whether this reflects fundamental differences between ffCNN and human processing or is merely an artefact of how ffCNNs are trained. Here, we use visual crowding as a well-controlled, specific probe to test global shape computations. Our results provide evidence that ffCNNs cannot produce human-like global shape computations for principled architectural reasons. We lay out approaches that may address shortcomings of ffCNNs to provide better models of the human visual system.
الأسئلة المقترحة
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
