AFA-PredNet: The action modulation within predictive coding

04/11/2018
by   Junpei Zhong, et al.
0

The predictive processing (PP) hypothesizes that the predictive inference of our sensorimotor system is encoded implicitly in the regularities between perception and action. We propose a neural architecture in which such regularities of active inference are encoded hierarchically. We further suggest that this encoding emerges during the embodied learning process when the appropriate action is selected to minimize the prediction error in perception. Therefore, this predictive stream in the sensorimotor loop is generated in a top-down manner. Specifically, it is constantly modulated by the motor actions and is updated by the bottom-up prediction error signals. In this way, the top-down prediction originally comes from the prior experience from both perception and action representing the higher levels of this hierarchical cognition. In our proposed embodied model, we extend the PredNet Network, a hierarchical predictive coding network, with the motor action units implemented by a multi-layer perceptron network (MLP) to modulate the network top-down prediction. Two experiments, a minimalistic world experiment, and a mobile robot experiment are conducted to evaluate the proposed model in a qualitative way. In the neural representation, it can be observed that the causal inference of predictive percept from motor actions can be also observed while the agent is interacting with the environment.

READ FULL TEXT

page 5

page 6

research
10/23/2018

A predictive processing model of perception and action for self-other distinction

During interaction with others, we perceive and produce social actions i...
research
04/17/2018

Encoding Longer-term Contextual Multi-modal Information in a Predictive Coding Model

Studies suggest that within the hierarchical architecture, the topologic...
research
04/19/2021

Bidirectional Interaction between Visual and Motor Generative Models using Predictive Coding and Active Inference

In this work, we build upon the Active Inference (AIF) and Predictive Co...
research
06/08/2017

Predictive Coding-based Deep Dynamic Neural Network for Visuomotor Learning

This study presents a dynamic neural network model based on the predicti...
research
02/03/2020

Effect of top-down connections in Hierarchical Sparse Coding

Hierarchical Sparse Coding (HSC) is a powerful model to efficiently repr...
research
04/05/2022

Hybrid Predictive Coding: Inferring, Fast and Slow

Predictive coding is an influential model of cortical neural activity. I...
research
01/12/2018

Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution

We present a novel deep neural network architecture for representing rob...

Please sign up or login with your details

Forgot password? Click here to reset