Robot motion decision-making method, system, and device introducing emotion regulation mechanism

Abstract

The invention belongs to the field of intelligent robots, and specifically relates to a robot motion decision-making method, system, and device introducing an emotion regulation mechanism, aiming at solving the problems of robot decision-making speed and learning efficiency. The system method includes using the environmental perception model to generate the predicted state value at the next moment according to the current action variable and state value; based on the action variable, state value, and immediate reward, update the state-action value function network; obtain the predicted trajectory based on the environmental perception model , calculate the local optimal solution of the predicted trajectory, and perform differential dynamic programming to obtain the optimal decision based on the model; according to the current state and strategy, minimize the state-action value function to obtain a model-free decision; based on the state prediction error and reward prediction error And the average reward value, the emotional response signal is generated through the computational model of emotional processing, and the path decision is selected according to the threshold of the signal. The present invention gradually improves the decision-making speed while ensuring the learning efficiency.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a robot motion decision-making method, system and device introducing an emotion regulation mechanism. Background technique [0002] A huge challenge in the current robot development is: how to learn to reason about potential dynamic changes in the environment, and learn how to effectively learn a new knowledge or skill. At present, scientists widely draw on the working mechanism of the human brain to establish a series of brain-inspired computing models in an attempt to achieve human-like intelligence. [0003] The decision-making process is a high-level cognitive processing process in the brain. A large amount of neuroscience data shows that there are two distinct decision-making systems in the human brain system: one is a declarable model-based decision-making system, which is mainly used to complete A series of goal-oriented behaviors; the other is a reflexive mo...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the scheduling process between model-based decision-making and model-free decision-making, and to balance the problem between decision-making speed and learning efficiency, the first aspect of the present invention proposes a method that introduces emotion regulation Mechanism-based robot motion decision-making method, the method includes:

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