Knowledge Commons of Institute of Automation,CAS
Computational modeling of Emotion-motivated Decisions for Continuous Control of Mobile Robots | |
Huang, Xiao1; Wu, Wei1; Qiao, Hong1 | |
发表期刊 | IEEE Transactions on Cognitive and Developmental Systems |
ISSN | 2379-8920 |
2020 | |
卷号 | 13期号:2020页码:1-14 |
通讯作者 | Qiao, Hong(hong.qiao@ia.ac.cn) |
摘要 | Immediate rewards are usually very sparse in the real world, which brings a great challenge to plain learning methods. Inspired by the fact that emotional reactions are incorporated into the computation of subjective value during decision-making in humans, an emotion-motivated decision-making framework is proposed in this paper. Specifically, we firstly build a brain-inspired computational model of amygdala-hippocampus interaction to generate emotional reactions. The intrinsic emotion derives from the external reward and episodic memory, and represents three psychological states: valence, novelty and motivational relevance. Then, a model-based decision-making approach with emotional intrinsic rewards is proposed to solve the continuous control problem of mobile robots. This method can execute online model-based control with the constraint of the model-free policy and global value function, which is conducive to getting a better solution with a faster policy search. The simulation results demonstrate that the proposed approach has higher learning efficiency and maintains a higher level of exploration, especially in some very sparse-reward environments. |
关键词 | Brain-inspired Computing Emotion-motivated Learning Emotion-memory Interactions Decision-making Reinforcement Learning |
DOI | 10.1109/TCDS.2019.2963545 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Strategic Priority Research Program of Chinese Academy of Science[XDB32050100] ; National Key Research and Development Program of China[2017YFB1300203] ; National Key Research and Development Program of China[2017YFB1300200] ; National Natural Science Foundation of China[61702516] ; Development of Science and Technology of Guangdong Province Special Fund Project[2016B090910001] ; National Natural Science Foundation of China[91648205] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[91648205] ; Development of Science and Technology of Guangdong Province Special Fund Project[2016B090910001] ; National Natural Science Foundation of China[61702516] ; National Key Research and Development Program of China[2017YFB1300200] ; National Key Research and Development Program of China[2017YFB1300203] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32050100] |
项目资助者 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Chinese Academy of Science ; Development of Science and Technology of Guangdong Province Special Fund Project |
WOS研究方向 | Computer Science ; Robotics ; Neurosciences & Neurology |
WOS类目 | Computer Science, Artificial Intelligence ; Robotics ; Neurosciences |
WOS记录号 | WOS:000628911300004 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 类脑模型与计算 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39096 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 |
通讯作者 | Qiao, Hong |
作者单位 | 1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2.Beijing Key Laboratory of Research and Application for Robotic Intelligence of Hand-Eye-Brain Interaction, Beijing 100190, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.CAS Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Beijing 100190, China 5.Cloud Computing Center, Chinese Academy of Sciences, Beijing 100190, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Huang, Xiao,Wu, Wei,Qiao, Hong. Computational modeling of Emotion-motivated Decisions for Continuous Control of Mobile Robots[J]. IEEE Transactions on Cognitive and Developmental Systems,2020,13(2020):1-14. |
APA | Huang, Xiao,Wu, Wei,&Qiao, Hong.(2020).Computational modeling of Emotion-motivated Decisions for Continuous Control of Mobile Robots.IEEE Transactions on Cognitive and Developmental Systems,13(2020),1-14. |
MLA | Huang, Xiao,et al."Computational modeling of Emotion-motivated Decisions for Continuous Control of Mobile Robots".IEEE Transactions on Cognitive and Developmental Systems 13.2020(2020):1-14. |
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