Paper:

# Materializing Architecture for Processing Multimodal Signals for a Humanoid Robot Control System

## Motohiro Akikawa and Masayuki Yamamura^{†}

Department of Computer Science, School of Computing, Tokyo Institute of Technology

4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan

^{†}Corresponding author

In recent years, many systems have been developed to embed deep learning in robots. Some use multimodal information to achieve higher accuracy. In this paper, we highlight three aspects of such systems: cost, robustness, and system optimization. First, because the optimization of large architectures using real environments is computationally expensive, developing such architectures is difficult. Second, in a real-world environment, noise, such as changes in lighting, is often contained in the input. Thus, the architecture should be robust against noise. Finally, it can be difficult to coordinate a system composed of individually optimized modules; thus, the system is better optimized as one architecture. To address these aspects, a simple and highly robust architecture, namely memorizing and associating converted multimodal signal architecture (MACMSA), is proposed in this study. Verification experiments are conducted, and the potential of the proposed architecture is discussed. The experimental results show that MACMSA diminishes the effects of noise and obtains substantially higher robustness than a simple autoencoder. MACMSA takes us one step closer to building robots that can truly interact with humans.

*J. Adv. Comput. Intell. Intell. Inform.*, Vol.25, No.3, pp. 335-345, 2021.

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