{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-framework-for-multisensory-foresight-for","title":"A Framework for Multisensory Foresight for Embodied Agents","arxiv_id":"2109.07561","date":"2021-09-15","proceeding":null,"authors":["Xiaohui Chen","Ramtin Hosseini","Karen Panetta","Jivko Sinapov"],"abstract":"Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network architecture to address this problem. Most existing approaches rely on large, manually annotated datasets, or only use visual data as a single modality. In contrast, the unsupervised method presented here uses multi-modal perceptions for predicting future visual frames. As a result, the proposed model is more comprehensive and can better capture the spatio-temporal dynamics of the environment, leading to more accurate visual frame prediction. The other novelty of our framework is the use of sub-networks dedicated to anticipating future haptic, audio, and tactile signals. The framework was tested and validated with a dataset containing 4 sensory modalities (vision, haptic, audio, and tactile) on a humanoid robot performing 9 behaviors multiple times on a large set of objects. While the visual information is the dominant modality, utilizing the additional non-visual modalities improves the accuracy of predictions.","url_abs":"https://arxiv.org/abs/2109.07561v1","url_pdf":"https://arxiv.org/pdf/2109.07561v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-framework-for-multisensory-foresight-for","repo_url":"https://github.com/tufts-ai-robotics-group/mmvp","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}