Parsing of action sequences: A neural dynamics approach

Abstract

Parsing of action sequences is the process of segmenting observed behavior into individual actions. In robotics, this process is critical for imitation learning from observation and for representing an observed behavior in a form that may be communicated to a human. In this paper, we develop a model for action parsing, based on our understanding of principles of grounded cognitive processes, such as perceptual decision making, behavioral organization, and memory formation.We present a neural-dynamic architecture, in which action sequences are parsed using a mathematical and conceptual framework for embodied cognition-the Dynamic Field Theory. In this framework, we introduce a novel mechanism, which allows us to detect and memorize actions that are extended in time and are parametrized by the target object of an action. The core properties of the architecture are demonstrated in a set of simple, proof-of-concept experiments.