Title: Self-Supervised Interpretable Sensorimotor Learning via Latent Functional Modularity

Abstract: We introduce MoNet, a novel method that combines end-to-end learning with modular network architectures for self-supervised and interpretable sensorimotor learning. MoNet is composed of three functionally distinct neural modules: Perception, Planning, and Control. Leveraging its inherent modularity through a cognition-guided contrastive loss function, MoNet efficiently learns task-specific decision-making processes in latent space, without requiring task-level supervision. Moreover, our method incorporates an online post-hoc explainability approach, which enhances the interpretability of the end-to-end inferences without a trade-off in sensorimotor performance. In real-world indoor environments, MoNet demonstrates effective visual autonomous navigation, surpassing baseline models by 11% to 47% in task specificity analysis. We further delve into the interpretability of our network through the post-hoc analysis of perceptual saliency maps and latent decision vectors. This offers insights into the incorporation of explainable artificial intelligence within the realm of robotic learning, encompassing both perceptual and behavioral perspectives.