TY - GEN
T1 - On the sensory commutativity of action sequences for embodied agents
AU - Caselles-Dupré, Hugo
AU - Garcia-Ortiz, Michael
AU - Filliat, David
N1 - Publisher Copyright:
© 2021 International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
PY - 2021/1/1
Y1 - 2021/1/1
N2 - We study perception in the scenario of an embodied agent equipped with first-person sensors and a continuous motor space with multiple degrees of freedom. We consider the commutative properties of action sequences with respect to sensory information perceived by such an embodied agent. We introduce the Sensory Commutativity Probability (SCP) criterion which measures how much an agent's degree of freedom affects the environment in embodied scenarios. We show how to compute this criterion in different environments, including realistic robotic setups and discuss how SCP and the commutative properties of action sequences can be used to learn about objects in the environment and improve sample-efficiency in Reinforcement Learning.
AB - We study perception in the scenario of an embodied agent equipped with first-person sensors and a continuous motor space with multiple degrees of freedom. We consider the commutative properties of action sequences with respect to sensory information perceived by such an embodied agent. We introduce the Sensory Commutativity Probability (SCP) criterion which measures how much an agent's degree of freedom affects the environment in embodied scenarios. We show how to compute this criterion in different environments, including realistic robotic setups and discuss how SCP and the commutative properties of action sequences can be used to learn about objects in the environment and improve sample-efficiency in Reinforcement Learning.
KW - Artificial Perception
KW - Robotics
KW - Unsupervised Learning
UR - https://www.scopus.com/pages/publications/85112254730
M3 - Conference contribution
AN - SCOPUS:85112254730
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 1460
EP - 1462
BT - 20th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2021
PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
T2 - 20th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2021
Y2 - 3 May 2021 through 7 May 2021
ER -