Sensorimotor Self-organization via Circular-Reactions

Abstract

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Newborns demonstrate innate abilities in coordinating their sensory and motor systems through reflexes. One notable characteristic is circular reactions consisting of self-generated motor actions that lead to correlated sensory and motor activities. This paper describes a model for goal-directed reaching based on circular reactions and exocentric reference-frames. The model is built using physiologically plausible visual processing modules and arm-control neural networks. The model incorporates map representations with ego- and exo-centric reference frames for sensory inputs, vector representations for motor systems, as well as local associative learning that result from arm explorations. The integration of these modules is simulated and tested in a three-dimensional spatial environment using Unity3D. The results show that, through self-generated activities, the model self-organizes to generate accurate arm movements that are tolerant with respect to various sources of noise.

Keywords

• sensorimotor learning
• cognitive modeling
• developmental robotics
• perception-action coupling
• reaching