Gaze allocation analysis for a visually guided manipulation task

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

External organisations

  • Department of Computer Science and Engineering
  • IIT Madras

Abstract

Findings from eye movement research in humans have demonstrated that the task determines where to look. One hypothesis is that the purpose of looking is to reduce uncertainty about properties relevant to the task. Following this hypothesis, we define a model that poses the problem of where to look as one of maximising task performance by reducing task relevant uncertainty. We implement and test our model on a simulated humanoid robot which has to move objects from a table into containers. Our model outperforms and is more robust than two other baseline schemes in terms of task performance whilst varying three environmental conditions, reach/grasp sensitivity, observation noise and the camera's field of view.

Details

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Publication statusPublished - 2012
Event12th International Conference on Simulation of Adaptive Behavior, SAB 2012 - Odense, Denmark
Duration: 27 Aug 201230 Aug 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7426 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

Conference12th International Conference on Simulation of Adaptive Behavior, SAB 2012
CountryDenmark
CityOdense
Period27/08/1230/08/12

Keywords

  • decision making, Gaze control, reinforcement learning