Extracting and binding salient information from different sensory modalities to determine common features in the environment is a significant challenge in robotics. Here we present MuPNet (Multi-modal Predictive Coding Network), a biologically plausible network architecture for extracting joint latent features from visuo-tactile sensory data gathered from a biomimetic mobile robot. In this study we evaluate MuPNet applied to place recognition as a simulated biomimetic robot platform explores visually aliased environments. The F1 scores demonstrate that its performance over prior hand-crafted sensory feature extraction techniques is equivalent under controlled conditions, with significant improvement when operating in novel environments.
@article{arxiv.1909.07201,
title = {MuPNet: Multi-modal Predictive Coding Network for Place Recognition by Unsupervised Learning of Joint Visuo-Tactile Latent Representations},
author = {Oliver Struckmeier and Kshitij Tiwari and Shirin Dora and Martin J. Pearson and Sander M. Bohte and Cyriel MA Pennartz and Ville Kyrki},
journal= {arXiv preprint arXiv:1909.07201},
year = {2019}
}