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“School of Cognitive Sciences”

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Paper   IPM / Cognitive Sciences / 9576
School of Cognitive Sciences
  Title:   Interactive Learning of Top-down Attention Control and Motor Actions
1.  Ali Borji
2.  Majid Nilli
3.  Babak Araabi
  Status:   In Proceedings
  Proceeding: IROS workshop on ?From motor to interaction learning in robots
  Year:  2008
  Supported by:  IPM
Like humans and primates, artificial creatures like robots are limited in terms of allocation of their resources to huge sensory and perceptual information. Thus attention is regarded as the same solution as humans in this domain. While bottom-up attention is determined by the image statistics, top down attention is dependent the on behavior and the task an agent is doing. This work attempts to consider a task based top-down visual attention control when resources of the agent are limited. Particularly attention control is formulated as an optimization problem in which the agent has to gain maximum reward while satisfying a constraint which is its information processing bottleneck. Reinforcement learning is then used to solve that optimization problem. A driving environment is simulated in that agent has to learn how to drive safely by attending to the right spatial locations and performing appropriate motor actions.

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