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UID:7282@i2m.univ-amu.fr
DTSTART;TZID=Europe/Paris:20180618T140000
DTEND;TZID=Europe/Paris:20180618T150000
DTSTAMP:20241120T203857Z
URL:https://www.i2m.univ-amu.fr/evenements/neuro-inspired-predictive-contr
 ol-for-robotic-sensorimotor-systems-and-other-stories-leo-lopez/
SUMMARY:Léo Lopez (I2M\, Aix-Marseille Université): Neuro-inspired predic
 tive control for robotic sensorimotor systems (and other stories) - Léo L
 opez
DESCRIPTION:Léo Lopez: One of the long-term goal in robotics is to introdu
 ce in human environment autonomous robots capable of helping humans and in
 teracting with them in everyday life safely and efficiently. In a non-cont
 rolled environment\, a robot\, in order to perceive and act must face an i
 ncomplete information problem. In this work\, we naturally opted for a mod
 eling approach that can quantify that uncertainty: the probabilistic appro
 ach. The methods developed here are largely inspired by biological (brain)
  solutions to problems of prediction\, inference and control. All of which
  have been recently cast within the same Bayesian scheme which is widely u
 sed in motor control : predictive coding. In this framework\, prediction i
 s the key\, estimation of future states of the body or the environment are
  taken into account for a particular task\, not only present and past stat
 es. This approach has been applied to explain a wide variety of phenomena:
  action understanding\, perception-action loops and perceptual learning\, 
 action selection or goal-directed behavior . We use one of its implementat
 ion in this thesis\, the Bayesian filtering scheme and we refer in this pr
 esentation to two bodies of literature\, one in robotics / control and the
  other one in neuroscience\, which use both of them a convergent lexicon (
 e.g Bayesian inference). We will present several methods for robotics with
 out to resort on the inverse kinematics that could be too time consuming f
 or real-word applications. Our framework (predictive coding and the Bayesi
 an brain hypothesis) and simulations permitted us to adress different ques
 tions in cognitive science like the usefulness of the visual and motor spa
 ce for reaching and grasping and a robotic model of sensorimotor integrati
 on.\nhttp://quintonj.free.fr/index.php/Profiles/LopezL\n\nhttps://www.rese
 archgate.net/profile/Leo_Pio-Lopez
CATEGORIES:Séminaire,MABioS
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DTSTART:20180325T030000
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