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On perceptual representations and how they interact with actions and physical representations

Speaker: Jeannette Bohg Title: On perceptual representations and how they interact with actions and physical representations Abstract: I will discuss the hypothesis that perception is active and shaped by our task and our expectations on how the world behaves upon physical interaction. Recent approaches in robotics follow this insight that perception is facilitated by physical interaction with the environment. First, interaction creates a rich sensory signal that would otherwise not be present. And second, knowledge of the regularity in the combined space of sensory data and action parameters facilitate the prediction and interpretation of the signal. In this talk, I will present two examples from our previous work where a predictive task facilitates autonomous robot manipulation by biasing the representation of the raw sensory data. I will present results on visual but also haptic data.