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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. D. Baxendale

M. Nibouche

E. L. Secco



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
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/