Where do i look now? Gaze allocation during visually guided manipulation

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

Standard

Where do i look now? Gaze allocation during visually guided manipulation. / Nunez-Varela, Jose; Ravindran, B.; Wyatt, Jeremy L.

Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 4444-4449 6225226.

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

Harvard

Nunez-Varela, J, Ravindran, B & Wyatt, JL 2012, Where do i look now? Gaze allocation during visually guided manipulation. in Proceedings - IEEE International Conference on Robotics and Automation., 6225226, pp. 4444-4449. https://doi.org/10.1109/ICRA.2012.6225226

APA

Nunez-Varela, J., Ravindran, B., & Wyatt, J. L. (2012). Where do i look now? Gaze allocation during visually guided manipulation. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4444-4449). [6225226] https://doi.org/10.1109/ICRA.2012.6225226

Vancouver

Nunez-Varela J, Ravindran B, Wyatt JL. Where do i look now? Gaze allocation during visually guided manipulation. In Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 4444-4449. 6225226 https://doi.org/10.1109/ICRA.2012.6225226

Author

Nunez-Varela, Jose ; Ravindran, B. ; Wyatt, Jeremy L. / Where do i look now? Gaze allocation during visually guided manipulation. Proceedings - IEEE International Conference on Robotics and Automation. 2012. pp. 4444-4449

Bibtex

@inproceedings{78222fe252d8427f83f69e4860d06b2d,
title = "Where do i look now? Gaze allocation during visually guided manipulation",
abstract = "In this work we present principled methods for the coordination of a robot's oculomotor system with the rest of its body motor systems. The problem is to decide which physical actions to perform next and where the robot's gaze should be directed in order to gain information that is relevant to the success of its physical actions. Previous work on this problem has shown that a reward-based coordination mechanism provides an efficient solution. However, that approach does not allow the robot to move its gaze to different parts of the scene, it considers the robot to have only one motor system, and assumes that the actions have the same duration. The main contributions of our work are to extend that previous reward-based approach by making decisions about where to fixate the robot's gaze, handling multiple motor systems, and handling actions of variable duration. We compare our approach against two common baselines: random and round robin gaze allocation. We show how our method provides a more effective strategy to allocate gaze where it is needed the most.",
author = "Jose Nunez-Varela and B. Ravindran and Wyatt, {Jeremy L.}",
year = "2012",
doi = "10.1109/ICRA.2012.6225226",
language = "English",
isbn = "9781467314039",
pages = "4444--4449",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

RIS

TY - GEN

T1 - Where do i look now? Gaze allocation during visually guided manipulation

AU - Nunez-Varela, Jose

AU - Ravindran, B.

AU - Wyatt, Jeremy L.

PY - 2012

Y1 - 2012

N2 - In this work we present principled methods for the coordination of a robot's oculomotor system with the rest of its body motor systems. The problem is to decide which physical actions to perform next and where the robot's gaze should be directed in order to gain information that is relevant to the success of its physical actions. Previous work on this problem has shown that a reward-based coordination mechanism provides an efficient solution. However, that approach does not allow the robot to move its gaze to different parts of the scene, it considers the robot to have only one motor system, and assumes that the actions have the same duration. The main contributions of our work are to extend that previous reward-based approach by making decisions about where to fixate the robot's gaze, handling multiple motor systems, and handling actions of variable duration. We compare our approach against two common baselines: random and round robin gaze allocation. We show how our method provides a more effective strategy to allocate gaze where it is needed the most.

AB - In this work we present principled methods for the coordination of a robot's oculomotor system with the rest of its body motor systems. The problem is to decide which physical actions to perform next and where the robot's gaze should be directed in order to gain information that is relevant to the success of its physical actions. Previous work on this problem has shown that a reward-based coordination mechanism provides an efficient solution. However, that approach does not allow the robot to move its gaze to different parts of the scene, it considers the robot to have only one motor system, and assumes that the actions have the same duration. The main contributions of our work are to extend that previous reward-based approach by making decisions about where to fixate the robot's gaze, handling multiple motor systems, and handling actions of variable duration. We compare our approach against two common baselines: random and round robin gaze allocation. We show how our method provides a more effective strategy to allocate gaze where it is needed the most.

UR - http://www.scopus.com/inward/record.url?scp=84864434139&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2012.6225226

DO - 10.1109/ICRA.2012.6225226

M3 - Conference contribution

AN - SCOPUS:84864434139

SN - 9781467314039

SP - 4444

EP - 4449

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -