Contextual action recognition and target localization with an active allocation of attention on a humanoid robot.

Exploratory gaze movements are fundamental for gathering the most relevant information regarding the partner during social interactions. Inspired by the cognitive mechanisms underlying human social behaviour, we have designed and implemented a system for a dynamic attention allocation which is able to actively control gaze movements during a visual action recognition task exploiting its own action execution predictions. Our humanoid robot is able, during the observation of a partner's reaching movement, to contextually estimate the goal position of the partner's hand and the location in space of the candidate targets. This is done while actively gazing around the environment, with the purpose of optimizing the gathering of information relevant for the task. Experimental results on a simulated environment show that active gaze control, based on the internal simulation of actions, provides a relevant advantage with respect to other action perception approaches, both in terms of estimation precision and of time required to recognize an action. Moreover, our model reproduces and extends some experimental results on human attention during an action perception.