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Robot self-recognition via facial expression sensorimotor learning

Shangguan, Zhegong; Ding, Mengyuan; Yu, Chuang; Chen, Chaona; Tapus, Adriana; (2023) Robot self-recognition via facial expression sensorimotor learning. In: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). (pp. pp. 2591-2597). IEEE: Busan, Korea. Green open access

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Abstract

To develop robots that can show cognitive functions, we must learn from the knowledge of human cognition. Existing biological and psychological evidence suggests that self-face perception and sensorimotor learning mechanisms play a crucial role in self-recognition. However, one of the most important self-identity cues – facial information – has not been extensively studied in the robot self-recognition task. Current research on robot self-recognition primarily relies on the recognition of high-precision targets and tracking of manipulator motions, where the self-perception of facial information is not well studied. In this work, we propose a novel approach to achieve self-recognition via self-perception of facial expressions. Specifically, we developed a Conditional Generative Adversarial Network (CGAN) model using the knowledge on human cognitive and sensorimotor functions. It allows the robot to be aware of self-face (i.e., off-line model). Passing the observed visual variations in a mirror and comparing them to self-perceptive information, the robot can recognize the self through an online Bayesian learning regression. The results of our first experiment show that the robot can recognize itself in a mirror. The results from the second experiment show that our algorithm could be tricked by a similar robot with the same facial expressions, which is similar to the rubber hand illusion (RHI).

Type: Proceedings paper
Title: Robot self-recognition via facial expression sensorimotor learning
Event: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
ISBN-13: 979-8-3503-3670-2
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/RO-MAN57019.2023.10309548
Publisher version: https://doi.org/10.1109/RO-MAN57019.2023.10309548
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences > Div of Psychology and Lang Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences > Div of Psychology and Lang Sciences > UCL Interaction Centre
URI: https://discovery-pp.ucl.ac.uk/id/eprint/10194652
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