Hierarchical generative modelling for autonomous robots

Here we present the hardware implementation for inverting the implicit hierarchical generative model for autonomous robot control. The specification of the robot platform can be found in Supplementary Table 1. First, we detail the task that is completed autonomously by inverting the generative model, that is, using the model to predict sensor inputs and using actuators to resolve the ensuing (proprioceptive) prediction errors. Next, we elaborate on the details of generative model including high-level decision-making, mid-level stability control and low-level joint control.

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