{"id":97,"date":"2026-09-09T02:05:13","date_gmt":"2026-09-09T02:05:13","guid":{"rendered":"https:\/\/www.ipc.tohoku-gakuin.ac.jp\/ailab\/renew\/?page_id=97"},"modified":"2026-09-17T01:46:02","modified_gmt":"2026-09-17T01:46:02","slug":"active-perception-exploratory-behavior","status":"publish","type":"page","link":"https:\/\/www.ipc.tohoku-gakuin.ac.jp\/ailab\/research\/active-perception-exploratory-behavior\/","title":{"rendered":"Active Perception & Exploratory Behavior"},"content":{"rendered":"\n

\u77e5\u308b\u305f\u3081\u306b\uff0c\u3069\u3046\u52d5\u304f\u306e\u304b<\/h3>\n\n\n\n

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WHAT WE STUDY<\/h3>\n\n\n\n
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Learned exploratory behavior for object recognition<\/figcaption><\/figure>\n<\/div>\n\n\n\n
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Learning Exploratory Behavior for Object Recognition
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\u30d2\u30e5\u30fc\u30de\u30ce\u30a4\u30c9\u30ed\u30dc\u30c3\u30c8\u3092\u7528\u3044\u305f\u5b9f\u9a13\u3067\u306f\uff0c\u5b66\u7fd2\u524d\u306b\u306f\u89b3\u6e2c\u3059\u3079\u304d\u5834\u6240\u304c\u5b9a\u307e\u3063\u3066\u3044\u306a\u304b\u3063\u305f\u30ed\u30dc\u30c3\u30c8\u304c\uff0c\u5b66\u7fd2\u5f8c\u306b\u306f\u56db\u89d2\u67f1\u3068\u5186\u67f1\u306e\u9055\u3044\u304c\u9855\u8457\u306a\u65ad\u9762\u90e8\u5206\u3092\u7a4d\u6975\u7684\u306b\u89b3\u5bdf\u3059\u308b\u884c\u52d5\u3092\u7372\u5f97\u3057\u307e\u3057\u305f\uff0e\u3053\u306e\u3088\u3046\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u81ea\u8eab\u304c\u300c\u77e5\u308b\u305f\u3081\u306b\u3069\u3053\u3092\u898b\u308b\u304b\u300d\u3092\u5b66\u7fd2\u3059\u308b\u3053\u3068\u3067\uff0c\u77e5\u899a\u3068\u884c\u52d5\u3092\u7d50\u3073\u3064\u3051\u305f\u7269\u4f53\u8a8d\u8b58\u3092\u5b9f\u73fe\u3057\u307e\u3059\uff0e<\/p>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n

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Learning Exploratory Behavior for Environmental Understanding
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\u672a\u77e5\u306e\u74b0\u5883\u3092\u7406\u89e3\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u5358\u306b\u79fb\u52d5\u3059\u308b\u3060\u3051\u3067\u306a\u304f\uff0c\u74b0\u5883\u304b\u3089\u6709\u52b9\u306a\u60c5\u5831\u3092\u5f97\u3089\u308c\u308b\u3088\u3046\u306b\u300c\u3069\u306e\u3088\u3046\u306b\u52d5\u304f\u304b\u300d\u3092\u5b66\u7fd2\u3059\u308b\u3053\u3068\u304c\u91cd\u8981\u3067\u3059\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u81ea\u8eab\u304c\u74b0\u5883\u3092\u63a2\u7d22\u3059\u308b\u305f\u3081\u306e\u884c\u52d5\u3092\uff0c\u5f37\u5316\u5b66\u7fd2\u306b\u3088\u3063\u3066\u7372\u5f97\u3059\u308b\u7814\u7a76\u3092\u884c\u3063\u3066\u304d\u307e\u3057\u305f\uff0e<\/p>\n<\/div>\n\n\n\n

\u5b9f\u9a13\u3067\u306f\uff0c\u5b66\u7fd2\u524d\u306b\u306f\u90e8\u5c4b\u306e\u4e2d\u3092\u4e0d\u898f\u5247\u306b\u79fb\u52d5\u3057\u3066\u3044\u305f\u30ed\u30dc\u30c3\u30c8\u304c\uff0c\u5b66\u7fd2\u5f8c\u306b\u306f\u58c1\u306e\u5468\u56f2\u3067\u7d30\u304b\u306a\u65cb\u56de\u3092\u7e70\u308a\u8fd4\u3057\u306a\u304c\u3089\uff0c\u90e8\u5c4b\u5168\u4f53\u3092\u5468\u56de\u3059\u308b\u63a2\u7d22\u884c\u52d5\u3092\u7372\u5f97\u3057\u307e\u3057\u305f\uff0e\u3053\u306e\u3088\u3046\u306a\u884c\u52d5\u306b\u3088\u3063\u3066\uff0c\u58c1\u3084\u30b3\u30fc\u30ca\u30fc\u306a\u3069\u74b0\u5883\u306e\u7279\u5fb4\u3092\u7d99\u7d9a\u7684\u306b\u89b3\u6e2c\u3057\uff0c\u305d\u306e\u5f8c\u306e\u74b0\u5883\u7406\u89e3\u3084\u30e2\u30c7\u30eb\u7372\u5f97\u306b\u5229\u7528\u3067\u304d\u308b\u60c5\u5831\u3092\u96c6\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e<\/p>\n<\/div>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n

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Robot trajectories before (top) and after (bottom) learning. After learning, the robot explores the entire room along the walls.<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n
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RELATED PUBLICATIONS<\/h3>\n\n\n\n
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  1. Manabu Gouko, “Autonomous Learning of Exploratory Behavior for Environmental Modeling in Mobile Robots,” International Journal of Intelligent Robotics and Applications, Vol. 9, Issue 2, 2025, DOI : https:\/\/doi.org\/10.1007\/s41315-025-00491-x<\/a>.<\/li>\n\n\n\n
  2. Chyon Hae Kim, Yusuke Kon, Ricardo Navarro, Manabu Gouko, Yuichi Kobayashi, “Effective Reward Function in Discernment Behavior Reinforcement Learning based on Categorization Progress,” Proceedings of 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.300-305, Cancun, Mexico, (2016-11).<\/li>\n\n\n\n
  3. Manabu Gouko, Yuichi Kobayashi, Chyon Hae Kim, “Online exploratory behavior acquisition model based on reinforcement learning,” Applied Intelligence, vol. 42, issue 1, pp.75-86, 2015, DOI:10.1007\/s10489-014-0567-4.<\/li>\n<\/ol>\n\n\n\n

    [View all publications \u2192]<\/a><\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"

    \u77e5\u308b\u305f\u3081\u306b\uff0c\u3069\u3046\u52d5\u304f\u306e\u304b \u4eba\u3084\u52d5\u7269\u306f\uff0c\u74b0\u5883\u304b\u3089\u4e0e\u3048\u3089\u308c\u308b\u60c5\u5831\u3092\u53d7\u52d5\u7684\u306b\u53d7\u3051\u53d6\u308b\u3060\u3051\u3067\u306a\u304f\uff0c\u3088\u308a\u3088\u304f\u7406\u89e3\u3059\u308b\u305f\u3081\u306b\u81ea\u3089\u8996\u70b9\u3084\u884c\u52d5\u3092\u5909\u3048\u3066\u3044\u307e\u3059\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u672a\u77e5\u306e\u74b0\u5883\u306b\u5bfe\u3057\u3066\u81ea\u3089\u50cd\u304d\u304b\u3051\uff0c\u884c\u52d5\u3092\u901a\u3057\u3066\u5fc5\u8981\u306a\u60c5\u5831\u3092\u7372\u5f97\u3059\u308b\u300c\u80fd\u52d5\u77e5\u899a\u300d\u306b\u7740\u76ee\u3057\u3066\u3044\u307e\u3059\uff0e\u7269\u4f53\u3092\u8b58\u5225\u3059\u308b\u305f\u3081\u306e\u63a2\u7d22\u884c\u52d5\u306e\u7372\u5f97\u3084\uff0c\u79fb\u52d5\u3057\u306a\u304c\u3089\u74b0\u5883\u3092\u5206\u7bc0\u5316\u30fb\u30e2\u30c7\u30eb\u5316\u3059\u308b\u624b\u6cd5\u306a\u3069\u3092\u901a\u3057\u3066\uff0c\u77e5\u899a\u3068\u884c\u52d5\u304c\u76f8\u4e92\u306b\u5f71\u97ff\u3057\u306a\u304c\u3089\u5f62\u6210\u3055\u308c\u308b\u77e5\u80fd\u306e\u4ed5\u7d44\u307f\u3092\u7814\u7a76\u3057\u3066\u3044\u307e\u3059\uff0e WHAT WE STUDY Learning Exploratory Behavior for Object Recognition\u7269\u4f53\u8b58\u5225\u306e\u305f\u3081\u306e\u63a2\u7d22\u884c\u52d5\u306e\u5b66\u7fd2 \u7269\u4f53\u3092\u6b63\u3057\u304f\u8b58\u5225\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u305f\u3060\u5bfe\u8c61\u3092\u898b\u308b\u3060\u3051\u3067\u306a\u304f\uff0c\u300c\u3069\u3053\u3092\u898b\u308c\u3070\u5fc5\u8981\u306a\u60c5\u5831\u304c\u5f97\u3089\u308c\u308b\u304b\u300d\u3092\u9078\u3076\u3053\u3068\u304c\u91cd\u8981\u3067\u3059\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u7269\u4f53\u3092\u8b58\u5225\u3059\u308b\u305f\u3081\u306b\u6709\u52b9\u306a\u89b3\u6e2c\u4f4d\u7f6e\u3092\uff0c\u5f37\u5316\u5b66\u7fd2\u306b\u3088\u3063\u3066\u81ea\u3089\u7372\u5f97\u3059\u308b\u7814\u7a76\u3092\u884c\u3063\u3066\u304d\u307e\u3057\u305f\uff0e \u30d2\u30e5\u30fc\u30de\u30ce\u30a4\u30c9\u30ed\u30dc\u30c3\u30c8\u3092\u7528\u3044\u305f\u5b9f\u9a13\u3067\u306f\uff0c\u5b66\u7fd2\u524d\u306b\u306f\u89b3\u6e2c\u3059\u3079\u304d\u5834\u6240\u304c\u5b9a\u307e\u3063\u3066\u3044\u306a\u304b\u3063\u305f\u30ed\u30dc\u30c3\u30c8\u304c\uff0c\u5b66\u7fd2\u5f8c\u306b\u306f\u56db\u89d2\u67f1\u3068\u5186\u67f1\u306e\u9055\u3044\u304c\u9855\u8457\u306a\u65ad\u9762\u90e8\u5206\u3092\u7a4d\u6975\u7684\u306b\u89b3\u5bdf\u3059\u308b\u884c\u52d5\u3092\u7372\u5f97\u3057\u307e\u3057\u305f\uff0e\u3053\u306e\u3088\u3046\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u81ea\u8eab\u304c\u300c\u77e5\u308b\u305f\u3081\u306b\u3069\u3053\u3092\u898b\u308b\u304b\u300d\u3092\u5b66\u7fd2\u3059\u308b\u3053\u3068\u3067\uff0c\u77e5\u899a\u3068\u884c\u52d5\u3092\u7d50\u3073\u3064\u3051\u305f\u7269\u4f53\u8a8d\u8b58\u3092\u5b9f\u73fe\u3057\u307e\u3059\uff0e Learning Exploratory Behavior for Environmental Understanding\u74b0\u5883\u7406\u89e3\u306e\u305f\u3081\u306e\u63a2\u7d22\u884c\u52d5\u306e\u5b66\u7fd2 \u672a\u77e5\u306e\u74b0\u5883\u3092\u7406\u89e3\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u5358\u306b\u79fb\u52d5\u3059\u308b\u3060\u3051\u3067\u306a\u304f\uff0c\u74b0\u5883\u304b\u3089\u6709\u52b9\u306a\u60c5\u5831\u3092\u5f97\u3089\u308c\u308b\u3088\u3046\u306b\u300c\u3069\u306e\u3088\u3046\u306b\u52d5\u304f\u304b\u300d\u3092\u5b66\u7fd2\u3059\u308b\u3053\u3068\u304c\u91cd\u8981\u3067\u3059\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u81ea\u8eab\u304c\u74b0\u5883\u3092\u63a2\u7d22\u3059\u308b\u305f\u3081\u306e\u884c\u52d5\u3092\uff0c\u5f37\u5316\u5b66\u7fd2\u306b\u3088\u3063\u3066\u7372\u5f97\u3059\u308b\u7814\u7a76\u3092\u884c\u3063\u3066\u304d\u307e\u3057\u305f\uff0e \u5b9f\u9a13\u3067\u306f\uff0c\u5b66\u7fd2\u524d\u306b\u306f\u90e8\u5c4b\u306e\u4e2d\u3092\u4e0d\u898f\u5247\u306b\u79fb\u52d5\u3057\u3066\u3044\u305f\u30ed\u30dc\u30c3\u30c8\u304c\uff0c\u5b66\u7fd2\u5f8c\u306b\u306f\u58c1\u306e\u5468\u56f2\u3067\u7d30\u304b\u306a\u65cb\u56de\u3092\u7e70\u308a\u8fd4\u3057\u306a\u304c\u3089\uff0c\u90e8\u5c4b\u5168\u4f53\u3092\u5468\u56de\u3059\u308b\u63a2\u7d22\u884c\u52d5\u3092\u7372\u5f97\u3057\u307e\u3057\u305f\uff0e\u3053\u306e\u3088\u3046\u306a\u884c\u52d5\u306b\u3088\u3063\u3066\uff0c\u58c1\u3084\u30b3\u30fc\u30ca\u30fc\u306a\u3069\u74b0\u5883\u306e\u7279\u5fb4\u3092\u7d99\u7d9a\u7684\u306b\u89b3\u6e2c\u3057\uff0c\u305d\u306e\u5f8c\u306e\u74b0\u5883\u7406\u89e3\u3084\u30e2\u30c7\u30eb\u7372\u5f97\u306b\u5229\u7528\u3067\u304d\u308b\u60c5\u5831\u3092\u96c6\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e RELATED PUBLICATIONS [View all publications 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