Institutional Repository of Key Laboratory of Behavioral Science, CAS
A Neurorobotic Experiment for Crossmodal Conflict Resolution in Complex Environments | |
German I. Parisi1; Pablo Barros1; Di Fu1,2,3; Sven Magg1; Haiyan Wu2,3,4; Xun Liu2,3; Stefan Wermter1 | |
2019 | |
通讯作者邮箱 | 刘勋 |
会议名称 | 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
会议录名称 | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
页码 | 2330-2335 |
会议日期 | OCT 01-05, 2018 |
会议地点 | Madrid, SPAIN |
产权排序 | 2 |
摘要 | Crossmodal conflict resolution is a crucial component of robot sensorimotor coupling through interaction with the environment for swift and robust behaviour also in noisy conditions. In this paper, we propose a neurorobotic experiment in which an iCub robot exhibits human-like responses in a complex crossmodal environment. To better understand how humans deal with multisensory conflicts, we conducted a behavioural study exposing 33 subjects to congruent and incongruent dynamic audio-visual cues. In contrast to previous studies using simplified stimuli, we designed a scenario with four animated avatars and observed that the magnitude and extension of the visual bias are related to the semantics embedded in the scene, i.e., visual cues that are congruent with environmental statistics (moving lips and vocalization) induce a stronger bias. We propose a deep learning model that processes stereophonic sound, facial features, and body motion to trigger a discrete response resembling the collected behavioural data. After training, we exposed the iCub to the same experimental conditions as the human subjects, showing that the robot can replicate similar responses in real time. Our interdisciplinary work provides important insights into how crossmodal conflict resolution can be modelled in robots and introduces future research directions for the efficient combination of sensory drive with internally generated knowledge and expectations. |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.psych.ac.cn/handle/311026/31308 |
专题 | 中国科学院行为科学重点实验室 |
作者单位 | 1.Knowledge Technology, Department of Informatics, Universit¨at Hamburg, Germany. 2.CAS Key Laboratory of Behavioral Science, Chinese Academy of Sciences (CAS), Beijing, China. 3.Department of Psychology, University of CAS, Beijing, China. 4.Division of the Humanities and Social Sciences, Caltech, CA, USA. |
推荐引用方式 GB/T 7714 | German I. Parisi,Pablo Barros,Di Fu,et al. A Neurorobotic Experiment for Crossmodal Conflict Resolution in Complex Environments[C],2019:2330-2335. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Neurorobotic Exper(1693KB) | 期刊论文 | 出版稿 | 限制开放 | CC BY-NC-SA | 请求全文 |
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