Active Inference for Tactile Sensor Control

This research aims to explore the use of active inference as a control mechanism for a tactile sensing system with the goal of creating an adaptive and human-like sense of control. Active inference has its roots in neuroscience, the theory itself developed as a way to explain how the human brain processes action and perception. As such it offers an interesting and biologically inspired perspective that has the potential to improve upon the current control mechanism used by the tactile sensing group, which is entitled active perception.

Aims and objectives:
Aim 1: Implement, test, and explore the use of active inference on a tactile robot.
O1: Modify existing active perception code, as currently used by the tactile sensing group, to use the active inference framework and implement it on the robot.
O2: Optimise the setup with regards to how information is provided to, and used by, the agent.
O3: Re-implement simple existing active perception tasks (active localization & perception) using the active inference system, and contrast the results with those achievable using active perception.
O4: Extend the active inference system to handle new and more complex tasks as well as considering online learning of the various model components.

Aim 2: Combine active inference and deep learning approaches for tactile perception
O1: Combine code bases for active perception, active inference, and deep learning (facilitated by active perception code base being already integrated with deep learning)
O2: Re-implement tasks from Aim 1 within this combined framework.
O3: Use the deep learning capabilities to hopefully go beyond the capabilities possible from Aim 1, likely to enable more realistic or human-like tasks.

Aim 3: Interpret and explore active inference framework applied to robot touch in the context of modelling brain function.
O1: Review the active inference model of the brain from the perspective of interpreting the tactile perception framework as a brain-based model.
O2: Consider neuroscience literature to identify ways that the tactile perception framework could be improved. Design robot task and test.
O3: Investigate whether the robot tactile perception performance suggests new interpretations of human brain function. Test on robot and connect to neuroscience literature.

Rapid growth in the already burgeoning Robotics and Autonomous Systems (RAS) market has been estimated from many sources. This growth is driven by socio-economic needs and enabled by advances in algorithms and technologies converging on robotics. The market potential for applications of robotics and autonomous systems is, therefore, of huge value to the UK. There are four major areas where FARSCOPE will strive to fulfil and deliver on the impact agenda.

1. Training: A coherent strategy for impact must observe the value of the 'innovation pipeline'; from training of world-class researchers to novel products in the 'shop window'. The FARSCOPE training programme described in the Case for Support will produce researchers who will be able to advance knowledge, expertise and skills in the many associated aspects of academic pursuit in the field. Crucially, they will be guided by its industrial partners and BRL's Industrial Advisory Group, so that they are grounded in the real-world context of the many robotics and autonomous systems application domains. This means pursuing research excellence while embracing the challenges set within the context of a range of real-world factors.

2. Economic and Social Exploitation: The elevated position of advanced robotics, in the commercial 'value chain', makes it imperative that we create graduates from our Centre who are acutely aware of this potential. BRL is centrally engaged in its regional SME and business ecology, as evidenced by its recent industry workshop and 'open lab' events, which attracted some 60 and 280 industrial delegates respectively. BRL is also a key contributor to regional economic innovation. BRL has engaged two business managers and allocated some dedicated space to specifically support work on RAS related industrial engagement and innovation and, importantly, technology incubation. BRL will be creating an EU-funded Robotics Innovation Facilities to help coordinating a EUR 20m a programme to specifically promote and encourage direct links between academia and industry with a focus on SMEs. All of these high-impact BRL activities will be fed directly into the FARSCOPE programme.

A critical mass of key industrial and end-user partnerships across a diverse array of sectors have given their support to the FARSCOPE centre. All have indicated their interest in engaging through the FARSCOPE mechanisms identified in the Case for Support. These demonstrate the impact of the FARSCOPE centre in engaging existing, and forming new, strategic partnerships in the RAS field.

3. Fostering links with other Research Institutions and Academic Dissemination: It is essential that FARSCOPE CDT students learn to share best practice with other RAS research centres, both in the UK and beyond. In addition to attendance and presentation at academic conferences nationally and overseas, FARSCOPE will use the following mechanisms to engage with the academic community. BRL has very many strong links with the UK, EU and global RAS research community. We will use these as a basis for cementing existing links and fostering new ones.

4. Engaging the Public: FARSCOPE will train and then encourage its student cohorts to engage with the general public, to educate about the potential of these new technologies, to participate in debates on ethics, safety and legality of autonomous systems, and to enthuse future generations to work in this exciting area. UWE and the University of Bristol, BRL's two supporting institutions, host the National Coordinating Centre for Public Engagement. In addition, UWE's Science Communication Unit is internationally renowned for its diverse and innovative activities, which engage the public with science. FARSCOPE students will receive guidance and training in public engagement in order to act as worthy RAS research 'ambassadors'.