State Space Construction by Attention Control

Ishiguro, Hiroshi; Kamiharako, Masatoshi; Ishida, Toru

State Space Construction by Attention Control

Hiroshi Ishiguro, Masatoshi Kamiharako, Toru Ishida

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Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence. Robotics and Perception. Pages 1131-1138.

Abstract

In order to understand cognitive aspects of autonomous robots, it is fruitful to develop a mechanism by which the robot autonomously analyzes physical sensor data and construct a state space. This paper proposes a coherent approach to constructing such a robot oriented state space by statistically analyzing sensor patterns and rewards given as the result of task executions. In the state space construction, the robot creates sensor pattern classifiers called Empirically Obtained Perceivers (EOPs) which, when combined, represent internal states of the robot. A novel feature of this method is that the EOP directs attention to select necessary information, and the state space is obtained with the attention control mechanism using EOPs. We have confirmed that the robot can effectively construct state spaces through its vision sensor and execute a navigation task with the obtained state spaces in a complicated simulated world.

Hiroshi Ishiguro, Masatoshi Kamiharako, and Toru Ishida. 1999. State Space Construction by Attention Control. In Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence, IJCAI-99. IJCAI, 1131–1138. https://ijcai.org/proceedings/1999/161

@inproceedings{ijcai1999p161,
  title     = {State Space Construction by Attention Control},
  author    = {Ishiguro, Hiroshi and Kamiharako, Masatoshi and Ishida, Toru},
  booktitle = {Proceedings of the Sixteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-99}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Thomas Dean},
  pages     = {1131--1138},
  year      = {1999},
  note      = {Robotics and Perception},
  url       = {https://ijcai.org/proceedings/1999/161},
}

TY  - CPAPER
TI  - State Space Construction by Attention Control
AU  - Ishiguro, Hiroshi
AU  - Kamiharako, Masatoshi
AU  - Ishida, Toru
T2  - Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence, IJCAI-99
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1999
SP  - 1131
EP  - 1138
UR  - https://ijcai.org/proceedings/1999/161
ER  -