Neural Pathways of Embodied Simulation

Svensson, Henrik; Morse, Anthony F.; Ziemke, Tom

doi:10.1007/978-3-642-02565-5_6

Cited by 9 publications

(17 citation statements)

References 84 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Most commonly, simulated perceptions are coupled to simulated actions -that is one is generated based on the other without any overt movements or perception/interoception. Svensson et al (2009) argue that embodied simulations can consist of at least three different anticipatory functions (implicit anticipation, bodily anticipation, and environmental anticipation), each likely implemented by several different neural systems.…”

Section: Embodied Simulationmentioning

confidence: 99%

Beyond bodily anticipation: Internal simulations in social interaction

Svensson

Thill

2016

Cognitive Systems Research

Self Cite

View full text Add to dashboard Cite

Section: Embodied Simulationmentioning

confidence: 99%

Beyond bodily anticipation: Internal simulations in social interaction

Svensson

Thill

2016

Cognitive Systems Research

Self Cite

View full text Add to dashboard Cite

“…That means there is no need to posit an independent agent (i.e., homunculus) that evaluates the simulation; rather, the (simulated) sensory events will elicit previously learned affective consequences that guide future behavior by rewarding or punishing simulated actions. The mechanisms that ensure that the simulations are established are likely to be realized by neural mechanisms located in many different areas of the brain, rather than there being a single neural mechanism for anticipation (Svensson et al, 2009b;. Grush (2004) proposed a general theory of representation based on the control-theoretic concept of emulation or forward modeling.…”

Section: Simulation Hypothesismentioning

confidence: 99%

“…As can be seen in, e.g., Barsalou (1999)'s theory of perceptual symbol systems and situated conceptualizations, simulations can also include more distal and distant aspects of embodied interaction (Svensson et al, 2009b). Barsalou (1999Barsalou ( , 2005 proposed a theory of perceptual symbol systems, consisting of three parts: (1) perceptual symbols, i.e., the reenactment of modality-specific states; (2) simulators and associated simulations; and (3) situated conceptualizations.…”

Section: Emulation Theory Of Representationmentioning

confidence: 99%

“…In humans and animals, internal simulations happen at different temporal scales (Svensson et al, 2009b;, comprising automatic unconscious mental simulations involved in, for example, perception that occur at a very rapid time scale and often involve detailed sensor and motor states [e.g., Gross et al (1999), Möller (1999), and Svensson et al (2009b)]. Deliberate mental simulations, e.g., mental imagery, occur at time scales corresponding to the overt behavior (Guillot and Collet, 2005).…”

Section: Hypothesesmentioning

confidence: 99%

See 1 more Smart Citation

Finding Your Way from the Bed to the Kitchen: Reenacting and Recombining Sensorimotor Episodes Learned from Human Demonstration

et al. 2016

Self Cite

View full text Add to dashboard Cite

Several simulation theories have been proposed as an explanation for how humans and other agents internalize an "inner world" that allows them to simulate interactions with the external real world -prospectively and retrospectively. Such internal simulation of interaction with the environment has been argued to be a key mechanism behind mentalizing and planning. In the present work, we study internal simulations in a robot acting in a simulated human environment. A model of sensory-motor interactions with the environment is generated from human demonstrations and tested on a Robosoft Kompaï robot. The model is used as a controller for the robot, reproducing the demonstrated behavior. Information from several different demonstrations is mixed, allowing the robot to produce novel paths through the environment, toward a goal specified by top-down contextual information. The robot model is also used in a covert mode, where the execution of actions is inhibited and perceptions are generated by a forward model. As a result, the robot generates an internal simulation of the sensory-motor interactions with the environment. Similar to the overt mode, the model is able to reproduce the demonstrated behavior as internal simulations. When experiences from several demonstrations are combined with a top-down goal signal, the system produces internal simulations of novel paths through the environment. These results can be understood as the robot imagining an "inner world" generated from previous experience, allowing it to try out different possible futures without executing actions overtly. We found that the success rate in terms of reaching the specified goal was higher during internal simulation, compared to overt action. These results are linked to a reduction in prediction errors generated during covert action. Despite the fact that the model is quite successful in terms of generating covert behavior toward specified goals, internal simulations display different temporal distributions compared to their overt counterparts. Links to human cognition and specifically mental imagery are discussed.

show abstract

“…In poor conditions, such as when parts of the objects to be detected are occluded or where there is too much noise, bottom-up object detectors tend to decrease their effectiveness dramatically. Grammars can also be used to diminish this issue by enforcing the detection of specific parts of the model (also referred to as covert perception [33]). This means that AGM can not only be used to reduce false positives in object detection but also to reduce false negatives.…”

Section: Covert Perceptionmentioning

confidence: 99%

A Perception-aware Architecture for Autonomous Robots

Manso

Bustos

Bachiller

et al. 2015

Int. j. adv. robot. syst.

View full text Add to dashboard Cite

Service robots are required to operate in indoor environments to help humans in their daily lives. To achieve the tasks that they might be assigned, the robots must be able to autonomously model and interact with the elements in it. Even in homes, which are usually more predictable than outdoor scenarios, robot perception is an extremely challenging task. Clutter, distance and partial views complicate modelling the environment, making it essential for robots to approach the objects to perceive in order to gain favourable points of view. This article proposes a novel grammar-based distributed architecture, designed with reusability and scalability in mind, which enables robots not only to find and execute the perception-aware plans they need to achieve their goals, but also to verify that the world representation they build is valid according to a set of grammatical rules for the world model. Additionally, it describes a real-world example of use, providing qualitative results, in which a robot successfully models the room in which it is located and finds a coffee mug.

show abstract

Neural Pathways of Embodied Simulation

Cited by 9 publications

References 84 publications

Beyond bodily anticipation: Internal simulations in social interaction

Beyond bodily anticipation: Internal simulations in social interaction

Finding Your Way from the Bed to the Kitchen: Reenacting and Recombining Sensorimotor Episodes Learned from Human Demonstration

A Perception-aware Architecture for Autonomous Robots

Contact Info

Product

Resources

About