Learning to reach to own body from spontaneous self-touch using a generative model
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00362238" target="_blank" >RIV/68407700:21230/22:00362238 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICDL53763.2022.9962186" target="_blank" >https://doi.org/10.1109/ICDL53763.2022.9962186</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICDL53763.2022.9962186" target="_blank" >10.1109/ICDL53763.2022.9962186</a>
Alternative languages
Result language
angličtina
Original language name
Learning to reach to own body from spontaneous self-touch using a generative model
Original language description
When leaving the aquatic constrained environment of the womb, newborns are thrown into the world with essentially new laws and regularities that govern their interactions with the environment. Here, we study how spontaneous self-contacts can provide material for learning implicit models of the body and its action possibilities in the environment. Specifically, we investigate the space of only somatosensory (tactile and proprioceptive) activations during self-touch configurations in a simple model agent. Using biologically motivated overlapping receptive fields in these modalities, a variational autoencoder (VAE) in a denoising framework is trained on these inputs. The denoising properties of the VAE can be exploited to fill in the missing information. In particular, if tactile stimulation is provided on a single body part, the model provides a configuration that is closer to a previously experienced self-contact configuration. Iterative passes through the VAE reconstructions create a control loop that brings about reaching for stimuli on the body. Furthermore, due to the generative properties of the model, previously unsampled proprioceptive-tactile configurations can also be achieved. In the future, we will seek a closer comparison with empirical data on the kinematics of spontaneous self-touch in infants and the results of reaching for stimuli on the body.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/GX20-24186X" target="_blank" >GX20-24186X: Whole-body awareness for safe and natural interaction: from brains to collaborative robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2022 IEEE International Conference on Development and Learning (ICDL)
ISBN
978-1-6654-1311-4
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
328-335
Publisher name
IEEE
Place of publication
Piscataway
Event location
London
Event date
Sep 12, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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