Neuroscience-inspired perception-action in robotics: applying active inference for state estimation, control and self-perception

by   Pablo Lanillos, et al.

Unlike robots, humans learn, adapt and perceive their bodies by interacting with the world. Discovering how the brain represents the body and generates actions is of major importance for robotics and artificial intelligence. Here we discuss how neuroscience findings open up opportunities to improve current estimation and control algorithms in robotics. In particular, how active inference, a mathematical formulation of how the brain resists a natural tendency to disorder, provides a unified recipe to potentially solve some of the major challenges in robotics, such as adaptation, robustness, flexibility, generalization and safe interaction. This paper summarizes some experiments and lessons learned from developing such a computational model on real embodied platforms, i.e., humanoid and industrial robots. Finally, we showcase the limitations and challenges that we are still facing to give robots human-like perception


page 2

page 5

page 6


Active Inference in Robotics and Artificial Agents: Survey and Challenges

Active inference is a mathematical framework which originated in computa...

Active inference body perception and action for humanoid robots

One of the biggest challenges in robotics systems is interacting under u...

Ideas from Developmental Robotics and Embodied AI on the Questions of Ethics in Robots

Advances in Artificial Intelligence and robotics are currently questioni...

An Overview of Perception Methods for Horticultural Robots: From Pollination to Harvest

Horticultural enterprises are becoming more sophisticated as the range o...

Reclaiming saliency: rhythmic precision-modulated action and perception

Computational models of visual attention in artificial intelligence and ...

Sensorimotor representation learning for an "active self" in robots: A model survey

Safe human-robot interactions require robots to be able to learn how to ...

Materials that make robots smart

We posit that embodied artificial intelligence is not only a computation...