Integrated Model of Interoception, Exteroception and Proprioception Using Predictive Coding

Abstract

In this study, we propose a computational model that integrates interoception, exteroception, and proprioception in an upper hierarchy, based on the predictive coding mechanism. In the experiment, we simulate a robot arm with these three perceptions, which carries out the task of lifting objects. As a result, the proposed model was able to form concepts related to the objects in the upper hierarchy through repeated experience of the task, and to predict interoception and proprioception from the input exteroception. Furthermore, we confirmed that the prediction error of the sensory signal changes according to the degree of concept formation in the upper hierarchy. In addition, by classifying the differential values for the prediction errors of the interoception calculated in the proposed model, the relationship between prediction errors of the interoception and basic emotions can be discussed.