A Probabilistic Model of Overt Visual Attention for Cognitive Robots
Bibliographic record
Abstract
Visual attention is one of the major requirements for a robot to serve as a cognitive companion for human. The robotic visual attention is mostly concerned with overt attention which accompanies head and eye movements of a robot. In this case, each movement of the camera head triggers a number of events, namely transformation of the camera and the image coordinate systems, change of content of the visual field, and partial appearance of the stimuli. All of these events contribute to the reduction in probability of meaningful identification of the next focus of attention. These events are specific to overt attention with head movement and, therefore, their effects are not addressed in the classical models of covert visual attention. This paper proposes a Bayesian model as a robot-centric solution for the overt visual attention problem. The proposed model, while taking inspiration from the primates visual attention mechanism, guides a robot to direct its camera toward behaviorally relevant and/or visually demanding stimuli. A particle filter implementation of this model addresses the challenges involved in overt attention with head movement. Experimental results demonstrate the performance of the proposed model.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.004 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.002 | 0.001 |
| Research integrity | 0.002 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".