Anil Meera, Ajith;
Novicky, Filip;
Parr, Thomas;
Friston, Karl;
Lanillos, Pablo;
Sajid, Noor;
(2022)
Reclaiming saliency: Rhythmic precision-modulated action and perception.
Frontiers in Neurorobotics
, 16
, Article 896229. 10.3389/fnbot.2022.896229.
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Abstract
Computational models of visual attention in artificial intelligence and robotics have been inspired by the concept of a saliency map. These models account for the mutual information between the (current) visual information and its estimated causes. However, they fail to consider the circular causality between perception and action. In other words, they do not consider where to sample next, given current beliefs. Here, we reclaim salience as an active inference process that relies on two basic principles: uncertainty minimization and rhythmic scheduling. For this, we make a distinction between attention and salience. Briefly, we associate attention with precision control, i.e., the confidence with which beliefs can be updated given sampled sensory data, and salience with uncertainty minimization that underwrites the selection of future sensory data. Using this, we propose a new account of attention based on rhythmic precision-modulation and discuss its potential in robotics, providing numerical experiments that showcase its advantages for state and noise estimation, system identification and action selection for informative path planning.
| Type: | Article |
|---|---|
| Title: | Reclaiming saliency: Rhythmic precision-modulated action and perception |
| Location: | Switzerland |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.3389/fnbot.2022.896229 |
| Publisher version: | https://doi.org/10.3389/fnbot.2022.896229 |
| Language: | English |
| Additional information: | Copyright © 2022 Anil Meera, Novicky, Parr, Friston, Lanillos and Sajid. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY) (http://creativecommons.org/licenses/by/4.0/). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
| Keywords: | attention, saliency, free-energy principle, active inference, precision, brain-inspired robotics, cognitive robotics |
| UCL classification: | UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences > UCL Queen Square Institute of Neurology > Imaging Neuroscience UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences UCL UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences > UCL Queen Square Institute of Neurology |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10154774 |
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