# Drifting perceptual patterns suggest prediction errors fusion rather than hypothesis selection: replicating the rubber-hand illusion on a robot

arXiv: https://arxiv.org/abs/1806.06809 · HTML: https://mlsanity.com/paper/1806.06809/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Jun 2018.

## Built on by (most cited first, 3 of 3)

- [Active Inference in Robotics and Artificial Agents: Survey and Challenges](https://mlsanity.com/paper/2112.01871/) (2021)
- [Neuroscience-inspired perception-action in robotics: applying active inference for state estimation, control and self-perception](https://mlsanity.com/paper/2105.04261/) (2021)
- [Brain-inspired bodily self-perception model for robot rubber hand illusion](https://mlsanity.com/paper/2303.12259/) (2023)

## Abstract (arXiv)

Humans can experience fake body parts as theirs just by simple visuo-tactile synchronous stimulation. This body-illusion is accompanied by a drift in the perception of the real limb towards the fake limb, suggesting an update of body estimation resulting from stimulation. This work compares body limb drifting patterns of human participants, in a rubber hand illusion experiment, with the end-effector estimation displacement of a multisensory robotic arm enabled with predictive processing perception. Results show similar drifting patterns in both human and robot experiments, and they also suggest that the perceptual drift is due to prediction error fusion, rather than hypothesis selection. We present body inference through prediction error minimization as one single process that unites predictive coding and causal inference and that it is responsible for the effects in perception when we are subjected to intermodal sensory perturbations.