A Hierarchical Emotion Regulated Sensorimotor Model: Case Studies
  Inspired by the hierarchical cognitive architecture and the perception-action model (PAM), we propose that the internal status acts as a kind of common-coding representation which affects, mediates and even regulates the sensorimotor behaviours. These regulation can be depicted in the Bayesian framework, that is why cognitive agents are able to generate behaviours with subtle differences according to their emotion or recognize the emotion by perception. A novel recurrent neural network called recurrent neural network with parametric bias units (RNNPB) runs in three modes, constructing a two-level emotion regulated learning model, was further applied to testify this theory in two different cases. 
Junpei Zhong and Rony Novianto and Mingjun Dai and Xinzheng Zhang and   Angelo Cangelosi
cs.RO cs.AI