Selection and Execution of Simple Actions via Visual Attention and Direct Parameter Specification

J. Tünnermann, S. Grüne, and B. Mertsching

Can early visual attention processes facilitate the selection and execution of simple robotic actions? We believe that this is the case. Following the selection--for--action agenda known from human attention, we show that central perceptual processing can be avoided or at least relieved from managing simple motor processes. In an attention--classification--action cycle, salient pre-attentional structures are used to provide features to set of parallel classifiers. Their action proposals are coordinated, parametrized (via direct parameter specification from the pre-attentional stage), and executed. We evaluate the system with a simulated mobile robot.