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模倣からターン・テイキングへ: 社会的相互作用の創発のメカニズムを理解するための自由エネルギー原理を利用したニューロロボティックス 実験研究
https://doi.org/10.15102/1394.00002667
https://doi.org/10.15102/1394.000026670fbd8c80-f053-454e-a65a-432fb64ffbe5
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WirkuttisNadineFullText (68.3 MB)
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WirkuttisNadineExamAbstract (49.1 kB)
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Item type | 学位論文 / Thesis or Dissertation(1) | |||||||
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公開日 | 2023-05-29 | |||||||
タイトル | ||||||||
言語 | ja | |||||||
タイトル | 模倣からターン・テイキングへ: 社会的相互作用の創発のメカニズムを理解するための自由エネルギー原理を利用したニューロロボティックス 実験研究 | |||||||
タイトル | ||||||||
言語 | en | |||||||
タイトル | Social Interaction Under the Free Energy Principle: A Cognitive Robotics Approach | |||||||
言語 | ||||||||
言語 | eng | |||||||
資源タイプ | ||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||
資源タイプ | doctoral thesis | |||||||
ID登録 | ||||||||
ID登録 | 10.15102/1394.00002667 | |||||||
ID登録タイプ | JaLC | |||||||
アクセス権 | ||||||||
アクセス権 | open access | |||||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||
著者 (英) |
Wirkuttis, Nadine
× Wirkuttis, Nadine
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抄録 | ||||||||
内容記述タイプ | Other | |||||||
内容記述 | Many things we do or think involve other people. We (strive to) understand, predict, and coordinate our actions with them in various social contexts. Many scientists investigate related cognitive mechanisms of social behavior. However, how individual and collective dynamics allow us to coordinate our actions in different social settings is not fully understood. Recently, the free energy principle has drawn attention with the expectation that it could provide a unified theory of the brain to model action, perception, and learning, among other cognitive skills. This thesis investigates how action, perception of actions, and learning of two agents translate into a mutual social context. I use a neurorobotics experimental setup to systematically study dyadic synchronized imitative interaction by extending the frameworks of predictive coding and active inference under the free energy principle. In the proposed model, the top-down processes encode prior beliefs, which allow robots to generate an action and predict the future action of the other robot. The two robots observe each other’s actions through a reciprocally coupled action-perception loop. The bottom-up inference process approximates the posterior belief by minimizing free energy whenever prediction and observation differ. In a wide range of experiments, I explored how regulating free energy complexity, i.e., the divergence of the prior and the approximate posterior belief can guide individual behavior and behavior coordination in the dyadic context. I show that three types of dyadic behavior coordination dynamically emerge due to the coregulated optimization processes in the robots’ reciprocally coupled action-perception loop, including (1) one robot is leading and the other robot is following (and vice versa), (2) robots are ignoring each other, and (3) robots are spontaneously taking turns in leading and following. Finally, I show that slowly oscillating the regulation of free energy complexity during an interaction leads to rather agreed-upon, intentional turntaking behavior. The contribution of this thesis is shedding light on the mechanisms under the free energy principle that lead to the dynamic emergence of different types of behavior coordination in imitative interaction. By discussing qualitative and quantitative differences between those behaviors, including the aforementioned two types of turn-taking, essential aspects of autonomous behavior coordination in synthetic and empirical studies are clarified. | |||||||
言語 | en | |||||||
口頭試問日 | ||||||||
2023-03-23 | ||||||||
学位授与年月日 | ||||||||
学位授与年月日 | 2023-04-30 | |||||||
学位名 | ||||||||
学位名 | Doctor of Philosophy | |||||||
学位授与番号 | ||||||||
学位授与番号 | 甲第122号 | |||||||
学位授与機関 | ||||||||
学位授与機関識別子Scheme | kakenhi | |||||||
学位授与機関識別子 | 38005 | |||||||
学位授与機関名 | Okinawa Institute of Science and Technology Graduate University | |||||||
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 | |||||||
権利 | ||||||||
権利情報 | © 2023 The Author. |