Mixtures of probabilistic principal component analyzers
Neural Computation
Understanding intelligence
Generative character of perception: a neural architecture for sensorimotor anticipation
Neural Networks - Special issue on organisation of computation in brain-like systems
Neural Networks - Special issue on organisation of computation in brain-like systems
Kernel PCA and de-noising in feature spaces
Proceedings of the 1998 conference on Advances in neural information processing systems II
Achieving Artificial Intelligence through Building Robots
Achieving Artificial Intelligence through Building Robots
Learning visuomotor transformations for gaze-control and grasping
Biological Cybernetics
Manifold Learning for Image Denoising
CIT '05 Proceedings of the The Fifth International Conference on Computer and Information Technology
Model-based learning for mobile robot navigation from the dynamicalsystems perspective
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
`Neural-gas' network for vector quantization and its application to time-series prediction
IEEE Transactions on Neural Networks
Coordinating with the Future: The Anticipatory Nature of Representation
Minds and Machines
Schema-Based Design and the AKIRA Schema Language: An Overview
Anticipatory Behavior in Adaptive Learning Systems
Training and Application of a Visual Forward Model for a Robot Camera Head
Anticipatory Behavior in Adaptive Learning Systems
A Study of Off-Line Uses of Anticipation
SAB '08 Proceedings of the 10th international conference on Simulation of Adaptive Behavior: From Animals to Animats
Architectures for functional imagination
Neurocomputing
Space Perception through Visuokinesthetic Prediction
Anticipatory Behavior in Adaptive Learning Systems
Neural behavior chain learning of mobile robot actions
Applied Computational Intelligence and Soft Computing
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Why motor simulation cannot explain affordance perception
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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Several scientists suggested that certain perceptual qualities are based on sensorimotor anticipation: for example, the softness of a sponge is perceived by anticipating the sensations resulting from a grasping movement. For the perception of spatial arrangements, this article demonstrates that this concept can be realized in a mobile robot. The robot first learned to predict how its visual input changes under movement commands. With this ability, two perceptual tasks could be solved: judging the distance to an obstacle in front by 'mentally' simulating a movement toward the obstacle, and recognizing a dead end by simulating either an obstacle-avoidance algorithm or a recursive search for an exit. A simulated movement contained a series of prediction steps. In each step, a multilayer perceptron anticipated the next image, which, however, became increasingly noisy. To denoise an image, it was split into patches, and each patch was projected onto a manifold obtained by modelling the density of the distribution of training patches with a mixture of Gaussian functions.