期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 54, 期 5, 页码 361-369出版社
ELSEVIER
DOI: 10.1016/j.robot.2006.02.003
关键词
imitation; attention; hierarchical structures; action recognition
According to the motor theories of perception, the motor systems of an observer are actively involved in the perception of actions when these are performed by a demonstrator. In this paper we review our computational architecture, HAMMER (Hierarchical Attentive Multiple Models for Execution and Recognition), where the motor control systems of a robot are organised in a hierarchical, distributed manner, and can be used in the dual role of (a) competitively selecting and executing an action, and (b) perceiving it when performed by a demonstrator. We subsequently demonstrate that such an arrangement can provide a principled method for the top-down control of attention during action perception, resulting in significant performance gains. We assess these performance gains under a variety of resource allocation strategies. (c) 2006 Elsevier B.V. All rights reserved.
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