Sensorimotor Visual Perception on Embodied System Using Free Energy Principle

Kanako Esaki, Tadayuki Matsumura, Kiyoto Ito, Hiroyuki Mizuno

Abstract: We propose an embodied system that is based on the free energy principle (FEP) for sensorimotor visual perception (SMVP). Although the FEP mathematically describes the rule that living things obey, limitation by embodiment is required to model SMVP. The proposed system is configured by a body, which partially observes the environment, and memory, which retains classified knowledge about the environment as a generative model, and executes active and perceptual inferences. Evaluation using the MNIST dataset showed that the proposed system recognizes characters by active and perceptual inferences, and the intentionality corresponding to human confirmation bias is reproduced on the system.