Multi-modal shared module that enables the bottom-up formation of map representation and top-down map reading
نویسندگان
چکیده
Humans create internal models of an environment (i.e. cognitive maps) through subjective sensorimotor experiences and can also understand spatial locations by looking at external map as a symbol environment. We simulate the development from grounding in single deep neural network model. Our proposed has shared module that processes features multiple modalities vision, hearing, touch) even maps same manner. The are encoded into feature vectors modality-specific encoders, processed module. was trained to predict sensory inputs simulated mobile robot. After predictive learning, representation developed states module, used for predicting modalities, including map. perform navigation associating with This implies grounded experiences, being bridged
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ژورنال
عنوان ژورنال: Advanced Robotics
سال: 2021
ISSN: ['1568-5535', '0169-1864']
DOI: https://doi.org/10.1080/01691864.2021.1993334