漂移的感知模式表明预测错误融合而不是假设选择:在机器人身上复制橡胶手错觉

Nina-Alisa Hinz, Pablo Lanillos, H. Mueller, G. Cheng
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引用次数: 28

摘要

人类可以通过简单的视觉-触觉同步刺激来体验假身体部位。这种身体错觉伴随着真实肢体对假肢体感知的空间漂移,表明刺激导致身体估计的更新。在橡胶手错觉实验中,这项工作比较了人类参与者的肢体漂移模式,以及具有预测处理感知的多感官机械臂的末端执行器估计位移。结果显示,在人类和机器人实验中都有类似的漂移模式,并且他们还表明,感知漂移是由于预测误差融合,而不是假设选择。我们通过预测误差最小化提出身体推理,将预测编码和因果推理结合为一个单一的过程,并且当我们受到多模态感觉扰动时,它负责感知的影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Drifting perceptual patterns suggest prediction errors fusion rather than hypothesis selection: replicating the rubber-hand illusion on a robot
Humans can experience fake body parts as theirs just by simple visuo-tactile synchronous stimulation. This body-illusion is accompanied by a spatial drift in the perception of the real limb towards the fake limb, suggesting an update of body estimation resulting from stimulation. This work compares body limb drifting patterns of human participants, in a rubber hand illusion experiment, with the end-effector estimation displacement of a multisensory robotic arm enabled with predictive processing perception. Results show similar drifting patterns in both human and robot experiments, and they also suggest that the perceptual drift is due to prediction error fusion, rather than hypothesis selection. We present body inference through prediction error minimization as one single process that unites predictive coding and causal inference and that it is responsible for the effects in perception when we are subjected to intermodal sensory perturbations.
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