twin-shema model

• The bishema model is a modular learning model

  • Modular learning model in which new modules are created by subjectively discovering changes in the dynamics of the environment

• What is Shema?

  • Piaget
  • Self-organizing processes in cognitive development
  • Its basic module is the Shema
  • Assimilation and regulation
    • Assimilation: incorporating information from the outside world into the Shema
      • Which Shema to incorporate
    • Regulation: changing the shema to take in information from the outside world
    • The assimilation and regulation cycle is similar to both steps of the k-means method
  • Equilibration and differentiation
    • Above, processes of assimilation and regulation are in equilibrium
    • When data that is far from the Shema comes in, a new Shema is created, and this is differentiation.

• Dual-schema model

  • Assume a robot with sensors and motors

  • Sensor input is a finite-dimensional real-valued vector

  • Based on sensor inputs, the internal processing system makes decisions and produces action outputs.

  • The action output is a real-valued vector of several dimensions

  • at time t

    • Sensor input, perceptual vector: $S_t$
    • Action output, action vector: $A_t$
    • Semiotics of parsing
    • The concept of an object is “how we act upon it and what are the consequences of our actions”.
      • The case ratio of [pragmatism
    • That is, $U_t=(A_t,S_t,S_{t+1})$ is the primitive form
      • We call this the experience vector.
    • Furthermore, consider F such that $F(S_t,S_{t+1})=A_t$.
      • Instantaneous motor output is rarely meaningful for agents operating in real space (2006)
      • The policy function $a_t=\pi (s_t)$ is what should be called an “action” (2006), based on the idea that a series of actions acting on an object is an action.
      • The two expressions are connected when combined with a function expressing intent, as explained later.

  • Split the shema of Biaget into two parts.

    • why
    • Act Shema and Perceived Shema
    • Perceived Shema: $\hat{F}=(F,\alpha ):A_t=F(S_t,I_{t+1})+\alpha {\delta }_t$
    • Act Shema: $\hat{G}=(G,\beta ):I_{t+1}=G(S_t)+\beta {\delta }_t$
    • where $I_{t+1}$ is the perception (Intention) that the subject wants to obtain at time t+1, ideally $S_{t+1}\simeq I_{t+1}$.
    • The combination of the two selects actions from inputs from the outside world.
      • The program of an action is a function that determines A from S $A_t=H(S_t)$.
      • :$A_t=F(S_t,G(S_t))$
    • Whether or not : $U_t$ satisfies the function F of the perceptual shema corresponds to whether or not the shema is appropriate as a symbol to represent an object existing in the external world. The process of assimilation can be performed here.
      • If the model error $(A_t-F(S_t,S_{t+1}){)}^2$ is small, the target belongs to the perceptual shema with F
      • Do you take the margin of error there?$(S_{t+1}-I_{t+1}{)}^2$ではなくて？

  • Adds a limit to storage capacity

    • queue
    • We will store the U_t when we were in that shema state in this queue.
    • F optimizes the samples in its queue to approximate with minimum error
      • Regulation Process
    • Limited memory capacity contributes to plasticity

  • Summary: Assimilation and Adjustment

    • By selecting the shema with the smallest model error, we can identify the shema to which the target belongs (assimilation).
    • The object is recorded in the shema. The function of the shema is optimized to represent the object (adjustment).

  • differentiation

    • The model error at time t is calculated from the model error at time t…
    • confidence variable
    • If the adjustment of F is not sufficient, the denominator of R will also be larger in the same dimension
    • An increase in R can be recognized as some change outside the system

• Acquisition of action shema through reinforcement learning

  • Bishema-based reinforcement learning

Hierarchical modular learning machine

• Resources on sensory-motor learning are

  • context of the subject’s interaction with the outside world,
  • corporeality of the subject.
  • resource constraint on memory

• Piaget’s Shema is divided into two parts, the action Shema and the perception Shema → twin Shema

• Bi-Schema is a cumulative modular learning device based on Piaget’s theory of the Shema, in which an autonomous robot acquires Shema (concepts) corresponding to models of the environment/object through interaction with the environment (2005).

• The idea of symbolic grounding ignores the robot’s own subjective world; instead of starting with human symbols, symbols for the robot must be generated through its own memory organizing mechanisms

• Umwelt = subjective world as seen by some creature = cyclic world.

  • J. Uexkull Biological Semiotics

• Meanings of symbols do not exist objectively, but are formed through cognitive developmental processes and social communication

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