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Lecture

Internal States and Hierarchical Control

In course

BIOENG-456: Controlling behavior in animals and robots

Students will acquire an integrative view on biological and artificial algorithms for controlling autonomous behaviors. Students will synthesize and apply this knowledge in oral presentations and computational exercises. ...

Description

This lecture covers the concepts of internal states and hierarchical control in robotics, discussing topics such as finite state machines, prioritizing behaviors, layered control systems, and neural circuits for hunger. It explores how robots can navigate, avoid obstacles, and perform tasks based on different levels of competence.

Instructor

Pavan P Ramdya

https://ramdya-lab.epfl.ch/

Official source

Related concepts (24)

Reinforcement

In reinforcement theory, it is argued that human behavior is a result of "contingent consequences" to human actions The publication pushes forward the idea that "you get what you reinforce" This means that behavior when given the right types of reinforcers can change employee behavior for the better and negative behavior can be weeded out. The model of self-regulation has three main aspects of human behavior, which are self-awareness, self-reflection, and self-regulation. Reinforcements traditionally align with self-regulation.

Community reinforcement approach and family training

Community reinforcement approach and family training (CRAFT) is a behavior therapy approach in psychotherapy for treating addiction developed by Robert J. Meyers in the late 1970s. Meyers worked with Nathan Azrin in the early 1970s whilst he was developing his own community reinforcement approach (CRA) which uses operant conditioning (also called contingency management) techniques to help people learn to reduce the power of their addictions and enjoy healthy living.

Finite-state machine

A finite-state machine (FSM) or finite-state automaton (FSA, plural: automata), finite automaton, or simply a state machine, is a mathematical model of computation. It is an abstract machine that can be in exactly one of a finite number of states at any given time. The FSM can change from one state to another in response to some inputs; the change from one state to another is called a transition. An FSM is defined by a list of its states, its initial state, and the inputs that trigger each transition.

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Finite-state transducer

A finite-state transducer (FST) is a finite-state machine with two memory tapes, following the terminology for Turing machines: an input tape and an output tape. This contrasts with an ordinary finite-state automaton, which has a single tape. An FST is a type of finite-state automaton (FSA) that maps between two sets of symbols. An FST is more general than an FSA. An FSA defines a formal language by defining a set of accepted strings, while an FST defines relations between sets of strings.

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