Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Enhancing a Neurocognitive Shared Visuomotor Model for Object
  Identification, Localization, and Grasping With Learning From Auxiliary Tasks   We present a follow-up study on our unified visuomotor neural model for the
robotic tasks of identifying, localizing, and grasping a target object in a
scene with multiple objects. Our Retinanet-based model enables end-to-end
training of visuomotor abilities in a biologically inspired developmental
approach. In our initial implementation, a neural model was able to grasp
selected objects from a planar surface. We embodied the model on the NICO
humanoid robot. In this follow-up study, we expand the task and the model to
reaching for objects in a three-dimensional space with a novel dataset based on
augmented reality and a simulation environment. We evaluate the influence of
training with auxiliary tasks, i.e., if learning of the primary visuomotor task
is supported by learning to classify and locate different objects. We show that
the proposed visuomotor model can learn to reach for objects in a
three-dimensional space. We analyze the results for biologically-plausible
biases based on object locations or properties. We show that the primary
visuomotor task can be successfully trained simultaneously with one of the two
auxiliary tasks. This is enabled by a complex neurocognitive model with shared
and task-specific components, similar to models found in biological systems.

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The categories of this paper are: patt-sol
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The categories of this paper are: q-alg
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The categories of this paper are: bayes-an
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The categories of this paper are: funct-an
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The categories of this paper are: astro-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: acc-phys
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The categories of this paper are: gr-qc
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The categories of this paper are: ao-sci
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The categories of this paper are: nucl-ex
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The categories of this paper are: cond-mat
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The categories of this paper are: chao-dyn
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The categories of this paper are: stat
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The categories of this paper are: nucl-th
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The categories of this paper are: q-fin
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The categories of this paper are: chem-ph