TY - GEN
T1 - Towards intrinsically learned skin models in robots
AU - Polani, Daniel
AU - Mcgregor, Simon
PY - 2010/12/1
Y1 - 2010/12/1
N2 - We describe the use of information-theoretic principles following [4] for sensoritopic map construction on a simulated "skin". This research constitutes a first step in robot body model learning based on uninterpreted tactile sensors. Results are reasonable, although our findings identify a serious limitation in the information distance metric: the distance is analytically bounded by the number of bins used for discretisation, so that reconstructions tend to "spherise". Furthermore, the tactile modality is significantly sparser than the visual modality, which introduces further artefacts in the information distance, particularly under maximum entropy binning. We conclude that some method which allows sensoritopic reconstruction directly from mutual information would be preferable.
AB - We describe the use of information-theoretic principles following [4] for sensoritopic map construction on a simulated "skin". This research constitutes a first step in robot body model learning based on uninterpreted tactile sensors. Results are reasonable, although our findings identify a serious limitation in the information distance metric: the distance is analytically bounded by the number of bins used for discretisation, so that reconstructions tend to "spherise". Furthermore, the tactile modality is significantly sparser than the visual modality, which introduces further artefacts in the information distance, particularly under maximum entropy binning. We conclude that some method which allows sensoritopic reconstruction directly from mutual information would be preferable.
UR - http://www.scopus.com/inward/record.url?scp=84863913274&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84863913274
SN - 1902956877
SN - 9781902956879
T3 - Proceedings of the 2nd International Symposium on New Frontiers in Human-Robot Interaction - A Symposium at the AISB 2010 Convention
SP - 72
EP - 75
BT - Proceedings of the 2nd International Symposium on New Frontiers in Human-Robot Interaction - A Symposium at the AISB 2010 Convention
T2 - 2nd International Symposium on New Frontiers in Human-Robot Interaction - A Symposium at the AISB 2010 Convention
Y2 - 29 March 2010 through 1 April 2010
ER -