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Goal-Directed Planning and Goal Understanding by Extended Active Inference: Evaluation through Simulated and Physical Robot Experiments
https://oist.repo.nii.ac.jp/records/2632
https://oist.repo.nii.ac.jp/records/26320ac80ec9-1afc-4686-988d-f074b2ff655a
名前 / ファイル | ライセンス | アクション |
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Matsumoto-2022-Goal-Directed Planning and Goal (3.7 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 | 2022-05-11 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Goal-Directed Planning and Goal Understanding by Extended Active Inference: Evaluation through Simulated and Physical Robot Experiments | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | active inference | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | teleology | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | goal-directed action planning | |||||
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) |
Matsumoto, Takazumi
× Matsumoto, Takazumi× Ohata, Wataru× Benureau, Fabien C. Y.× Tani, Jun |
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書誌情報 |
en : Entropy 巻 24, 号 4, p. 469, 発行日 2022-03-28 |
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抄録 | ||||||
内容記述タイプ | Other | |||||
内容記述 | We show that goal-directed action planning and generation in a teleological framework can be formulated by extending the active inference framework. The proposed model, which is built on a variational recurrent neural network model, is characterized by three essential features. These are that (1) goals can be specified for both static sensory states, e.g., for goal images to be reached and dynamic processes, e.g., for moving around an object, (2) the model cannot only generate goal-directed action plans, but can also understand goals through sensory observation, and (3) the model generates future action plans for given goals based on the best estimate of the current state, inferred from past sensory observations. The proposed model is evaluated by conducting experiments on a simulated mobile agent as well as on a real humanoid robot performing object manipulation. | |||||
出版者 | ||||||
出版者 | MDPI | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1099-4300 | |||||
PubMed番号 | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | PMID | |||||
関連識別子 | info:pmid/35455132 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
識別子タイプ | DOI | |||||
関連識別子 | info:doi/10.3390/e24040469 | |||||
権利 | ||||||
権利情報 | © 2022 The Author(s). | |||||
関連サイト | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://www.mdpi.com/1099-4300/24/4/469#cite | |||||
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 |