Articulation of Sensory-Motor Experiences by "Forwarding Forward Model": From Robot Experiments to Phenomenology

Abstract

This paper introduces the so-called Forwarding Forward Model network that explains how complex behavior can be learned and generated while its sensory-motor flow is hierarchically articulated. This model is characterized by a distributed representation behavior primitives at each level, which contrasts with our prior models utilizing localist views. The model was examined through experiments using a 4-degrees freedom arm robot with a vision system. The experimental results showed that behaviors can be generated both robustly and flexiblely going through the bottom-up and the top-down interactions between levels. The characteristics the distributed representation are discussed. Our discussion is further extended to the phenomenological issue subjective time perception. A novel idea for explaining the sense of nowness is derived by applying our idea articulating experiences to Husserl's notions retention and protention.