发表机构
Czech Technical University in Prague（捷克理工大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一个带具身照护者的婴儿模拟器扩展，通过重放二元互动并记录婴儿视角的触觉与视觉，为研究社交互动发展提供多模态数据生成平台。
AI 中文摘要
早期发展发生在照护者与婴儿的二元互动中，婴儿的感觉运动流受到身体接触和面对面互动的影响。然而，发展机器人学模拟器通常将婴儿置于孤立环境中建模，限制了对照护者介导体验的研究。我们提出了MuJoCo中多模态婴儿模型（MIMo）的照护者启用扩展，将MIMo转变为一个可控平台，用于重放二元互动并生成密集的婴儿视角观察。该系统提供：（i）一个与MIMo形态兼容的关节化照护者模型，根据人体测量学参数化，并可选择调整尺寸以匹配记录的照护者；（ii）一个重放自然主义照护者-婴儿抱持和安抚互动的工作流程；（iii）记录和可视化婴儿的第一人称多模态体验（我们展示触觉和视觉）。我们通过引入起源感知的接触记录来展示该工具的触觉功能，该记录可区分自我、照护者和环境产生的接触，并支持聚合成与手动编码可比的触觉率统计。虽然我们展示了触觉分析，但该平台更广泛地旨在作为多模态二元数据集（触觉和第一人称视觉）的生成器，用于建模社交互动的发展。
英文摘要
Early development unfolds in caregiver-infant dyads, where infants' sensorimotor streams are shaped by physical contact and face-to-face interaction. Yet developmental robotics simulators commonly model infants in isolation, limiting the study of caregiver-mediated experience. We present a caregiver-enabled extension of the Multi-Modal Infant Model (MIMo) in MuJoCo that turns MIMo into a controllable platform for replaying dyadic interaction and generating dense infant-perspective observations. The system provides (i) an articulated caregiver model compatible with MIMo morphologies, parameterized from anthropometrics and optionally resized to a recorded caregiver; (ii) a workflow to replay naturalistic caregiver-infant holding and soothing interactions; and (iii) logging and visualizing the infant's first-person multimodal experience (we show touch and vision). We showcase the tool on touch by introducing origin-aware contact logging that disambiguates self-, caregiver-, and environment-generated contact and supports aggregation into touch-rate statistics comparable to manual coding. While we showcase tactile analysis, the platform is intended more broadly as a generator of multimodal dyadic datasets (touch and egocentric vision) for modeling the development of social interaction.
Comments8 pages, 10 figures
