Jose Nunez-Varela

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In this work we present principled methods for the coordination of a robot's oculomotor system with the rest of its body motor systems. The problem is to decide which physical actions to perform next and where the robot's gaze should be directed in order to gain information that is relevant to the success of its physical actions. Previous work on this(More)
Findings from eye movement research in humans have demonstrated that the task determines where to look. One hypothesis is that the purpose of looking is to reduce uncertainty about properties relevant to the task. Following this hypothesis, we define a model that poses the problem of where to look as one of maximising task performance by reducing task(More)
One of the most basic tasks for any autonomous mobile robot is that of safely navigating from one point to another (e.g. service robots should be able to find their way in different kinds of environments). Typically, vision is used to find landmarks in that environment to help the robot localise itself reliably. However, some environments may lack of these(More)
Human studies have shown that gaze shifts are mostly driven by the task. In manipulation tasks, for example, gaze typically leads action to the next manipulation target. One explanation is that fixations gather information about task relevant properties, where task relevance is signalled by reward. This thesis pursues primarily an engineering science goal(More)
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