Yulia Sandamirskaya

Yulia Sandamirskaya

Zürich Metropolitan Area
6923 Follower:innen 500+ Kontakte

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Bescheinigungen und Zertifikate

Veröffentlichungen

  • Learning the Perceptual Conditions of Satisfaction of Elementary Behaviors

    Robotics: Science and Systems (RSS), Workshop "Active Learning in Robotics: Exploration, Curiosity, and Interaction"

    A core requirement for autonomous
    robotic agents is that they be able to initiate actions to
    achieve a particular goal and to recognize the resulting
    conditions once that goal has been achieved. Moreover,
    if the agent is to operate autonomously in complex
    and changing environments, the mappings between intended actions and their resulting conditions must be
    learned, rather than pre-programmed. In the present
    work, we introduce a method in which such mappings
    can be…

    A core requirement for autonomous
    robotic agents is that they be able to initiate actions to
    achieve a particular goal and to recognize the resulting
    conditions once that goal has been achieved. Moreover,
    if the agent is to operate autonomously in complex
    and changing environments, the mappings between intended actions and their resulting conditions must be
    learned, rather than pre-programmed. In the present
    work, we introduce a method in which such mappings
    can be learned within the framework of Dynamic Field
    Theory. We not only show how the learning process
    can be implemented using dynamic neural fields, but
    show how the adaptive architecture can operate on
    real-world inputs while controlling the outgoing motor
    commands. The proposed method extends a recently
    proposed neural-dynamic framework for behavioral
    organization in cognitive robotics.

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  • Using dynamic field theory to extend the embodiment stance toward higher cognition.

    New Ideas in Psychology

    The embodiment stance emphasizes that cognitive processes unfold continuously in time, are constantly linked to the sensory and motor surfaces, and adapt through learning and development. Dynamic Field Theory (DFT) is a neurally based set of concepts that has turned out to be useful for understanding how cognition emerges in an embodied and situated system. We explore how the embodiment stance may be extended beyond those forms of cognition that are closest to sensorimotor processes. The core…

    The embodiment stance emphasizes that cognitive processes unfold continuously in time, are constantly linked to the sensory and motor surfaces, and adapt through learning and development. Dynamic Field Theory (DFT) is a neurally based set of concepts that has turned out to be useful for understanding how cognition emerges in an embodied and situated system. We explore how the embodiment stance may be extended beyond those forms of cognition that are closest to sensorimotor processes. The core elements of DFT are dynamic neural fields (DNFs), patterns of activation defined over different kinds of spaces. These may include retinal space and visual feature spaces, spaces spanned by movement parameters such as movement direction and amplitude, or abstract spaces like the ordinal axis along which sequences unfold. Instances of representation that stand for perceptual objects, motor plans, or action intentions are peaks of activation in the DNFs. We show how such peaks may arise from input and are stabilized by intra-field interaction. Given a neural mechanism for instantiation, the neuronal couplings between DNFs implement cognitive operations. We illustrate how these mechanisms can be used to enable architectures of dynamic neural fields to perform cognitive functions such as acquiring and updating scene representations, using grounded spatial language, and generating sequences of actions. Implementing these DFT models in autonomous robots demonstrates how these cognitive functions can be enacted in embodied, situated systems.

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