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Leading or Following? Dyadic Robot ImitativeInteraction Using the Active Inference Framework
https://oist.repo.nii.ac.jp/records/2164
https://oist.repo.nii.ac.jp/records/21640a125185-47ba-495c-aa0c-33d82ee0179d
名前 / ファイル | ライセンス | アクション |
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09457162 (2.7 MB)
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Creative Commons Attribution 4.0 International(https://creativecommons.org/licenses/by/4.0/)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2021-07-12 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Leading or Following? Dyadic Robot ImitativeInteraction Using the Active Inference Framework | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Predictive coding | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Cognitive robotics | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | humanoid robots | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | activity recognition | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | adaptive control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | inference algorithms | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者(英) |
Wirkuttis, Nadine
× Wirkuttis, Nadine× Tani, Jun |
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書誌情報 |
en : IEEE Robotics and Automation Letters 巻 6, 号 3, p. 6024-6031, 発行日 2021-06-16 |
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抄録 | ||||||
内容記述タイプ | Other | |||||
内容記述 | This study investigated how social interaction among robotic agents changes dynamically depending on the individual belief of action intention. In a set of simulation studies, we examine dyadic imitative interactions of robots using a variational recurrent neural network model. The model is based on the free energy principle such that a pair of interacting robots find themselves in a loop, attempting to predict and infer each other's actions using active inference. We examined how regulating the complexity term to minimize free energy determines the dynamic characteristics of networks and interactions. When one robot trained with tighter regulation and another trained with looser regulation interact, the latter tends to lead the interaction by exerting stronger action intention, while the former tends to follow by adapting to its observations. The study confirms that the dyadic imitative interaction becomes successful by achieving a high synchronization rate when a leader and a follower are determined by developing action intentions with strong belief and weak belief, respectively. | |||||
出版者 | ||||||
出版者 | IEEE | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 2377-3766 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.1109/LRA.2021.3090015 | |||||
関連サイト | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://ieeexplore.ieee.org/document/9457162 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 |