ICS Research Seminar on "Body perception through predictive coding: replicating the rubber-hand illusion on a robot"
ICS Research Seminar on "Body perception through predictive coding: replicating the rubber-hand illusion on a robot" by Dr. Pablo Lanillos
Abstract: Within the umbrella of the SELFCEPTION project I am developing a computational model for self/other distinction to improve interaction under uncertainty in complex scenarios. One of the key functionalities that will provide safety and understanding to the robot is Agency: the capability of the robot to be aware of the effects of its own actions. One of the hypothesis proposed for humans is that they have predictors that relate action with their consequences. Hence, the match between the observed sensations and the expected ones creates an illusionary sensation of awareness or agency. In this talk I will describe robotic body perception inspired by one of the most promising theories of the brain: predictive coding or predictive processing. The core of the approach is based on reducing an unsupervised learning problem into an error prediction optimization, where the belief distribution of the perceived reality is adjusted to the internal variables of the brain or the robot by reducing the error between expected sensation and the sensed one. In order to validate the model, I have proposed to apply the same test that cognitive psychologist use for disentangling humans' body-ownership perception. The rubber-hand illusion is the most famous body-illusion. It provokes on the participant an experience of body-ownership of a fake hand and an end-effector drift. In this case, we cannot ask the robot about body-ownership, but we can actually check how the robot internal variables respond to the same body illusion perturbation and see if the end-effector location presents a drift. I will present a simplified computational theoretical model assuming a static world and the experimental setup on a multisensory humanoid arm. Finally, I will introduce the active perception paradigm on a dynamical system and discuss some potential gaps to properly explain and model agency.
09. February 2018 at 10:00 h Place: ICS Karlstraße 45, 2. Floor, media room / library (2001)