METHODS AND APPARATUS FOR EARLY SENSORY INTEGRATION AND ROBUST ACQUISITION OF REAL WORLD KNOWLEDGE

摘要

The systems and methods disclosed herein include a path integration system that calculates optic flow, infers angular velocity from the flow field, and incorporates this velocity estimate into heading calculations. The resulting system fuses heading estimates from accelerometers, gyroscopes, engine torques, and optic flow to determine self-localization. The system also includes a motivational system that implements a reward drive, both positive and negative, into the system. In some implementations, the drives can include: a) a curiosity drive that encourages exploration of new areas, b) a resource drive that attracts the agent towards the recharging base when the battery is low, and c) a mineral reward drive that attracts the agent towards previously explored scientific targets.

主权项

1. A method for aggregating data representing a moving body with respect to an environment, the method comprising:
(A) receiving, by a processor, a plurality of sets of data readings from at least one sensor, the plurality of sets of data readings representing independent measurements by the at least one sensor of the moving body with respect to the environment; (B) mapping the plurality of sets of data readings received in (A) to respective first sets of data cells, each first set of data cells forming a corresponding first neural representation of the moving body with respect to the environment; (C) applying respective weights to values in the respective first sets of data cells mapped in (B), the respective weights representing respective precisions of the independent measurements represented by the corresponding sets of data readings; (D) combining the values in the first sets of data cells weighted in (C) to form a plurality of aggregated data readings; and (E) mapping the plurality of aggregated data readings formed in (D) to a second set of data cells stored in the memory, the second set of data cells forming a second neural representation of the moving body with respect to the environment that is more precise than the first neural representations of the moving body with respect to the environment.