M. D. Baxendale
Feed-forward selection of cerebellar models for calibration of robot sound source localization
Baxendale, M. D.; Nibouche, M.; Secco, E. L.; Pipe, A. G.; Pearson, M. J.
Authors
M. Nibouche
E. L. Secco
Tony Pipe Anthony.Pipe@uwe.ac.uk
Professor
Martin Pearson Martin.Pearson@uwe.ac.uk
Senior Lecturer
Abstract
© 2019, Springer Nature Switzerland AG. We present a responsibility predictor, based on the adaptive filter model of the cerebellum, to provide feed-forward selection of cerebellar calibration models for robot Sound Source Localization (SSL), based on audio features extracted from the received audio stream. In previous work we described a system that selects the models based on sensory feedback, however, a drawback of that system is that it is only able to select a set of calibrators a-posteriori, after action (e.g. orienting a camera toward the sound source after a position estimate is made). The responsibility predictor improved the system performance compared to that without responsibility prediction. We show that a trained responsibility predictor is able to use contextual signals in the absence of ground truth to successfully select models with a performance approaching that of a system with full access to the ground truth through sensory feedback.
Citation
Baxendale, M. D., Nibouche, M., Secco, E. L., Pipe, A. G., & Pearson, M. J. (2019). Feed-forward selection of cerebellar models for calibration of robot sound source localization. https://doi.org/10.1007/978-3-030-24741-6_1
Conference Name | Living Machines: Conference on Biomimetic and Biohybrid Systems |
---|---|
Conference Location | Nara, Japan |
Start Date | Jul 9, 2019 |
End Date | Jul 12, 2019 |
Acceptance Date | Jul 6, 2019 |
Online Publication Date | Jul 6, 2019 |
Publication Date | Jul 6, 2019 |
Deposit Date | Apr 21, 2020 |
Publisher | Springer Verlag |
Pages | 3-14 |
Series Title | Lecture Notes in Computer Science |
Series Number | 11556 |
Series ISSN | 0302-9743 |
ISBN | 9783030247409 |
DOI | https://doi.org/10.1007/978-3-030-24741-6_1 |
Public URL | https://uwe-repository.worktribe.com/output/5914610 |
Additional Information | First Online: 6 July 2019; Conference Acronym: Living Machines; Conference Name: Conference on Biomimetic and Biohybrid Systems; Conference City: Nara; Conference Country: Japan; Conference Year: 2019; Conference Start Date: 9 July 2019; Conference End Date: 12 July 2019; Conference Number: 8; Conference ID: lm0; Conference URL: http://livingmachinesconference.eu/2019/ |
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