Related papers: The homunculus for proprioception: Toward learning…
Somatosensory inputs can be grossly divided into tactile (or cutaneous) and proprioceptive -- the former conveying information about skin stimulation, the latter about limb position and movement. The principal proprioceptors are constituted…
The neural networks of the brain are capable of learning statistical input regularities on the basis of synaptic learning, functional integration into increasingly larger, interconnected neural assemblies, and self organization. This self…
Neurocognitive models of higher-level somatosensory processing have emphasised the role of stored body representations in interpreting real-time sensory signals coming from the body (Longo, Azanon and Haggard, 2010; Tame, Azanon and Longo,…
Backpropagation-based supervised learning has achieved great success in computer vision tasks. However, its biological plausibility is always controversial. Recently, the bio-inspired Hebbian learning rule (HLR) has received extensive…
The acquisition of symbolic and linguistic representations of sensorimotor behavior is a cognitive process performed by an agent when it is executing and/or observing own and others' actions. According to Piaget's theory of cognitive…
Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…
Safe human-robot interactions require robots to be able to learn how to behave appropriately in \sout{humans' world} \rev{spaces populated by people} and thus to cope with the challenges posed by our dynamic and unstructured environment,…
This paper presents a novel approach for representing proprioceptive time-series data from quadruped robots as structured two-dimensional images, enabling the use of convolutional neural networks for learning locomotion-related tasks. The…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
Motion retargeting from humans to human-like artificial agents is becoming increasingly important as humanoid robots grow more capable. However, most existing approaches focus only on reproducing kinematics and ignore the rich sensorimotor…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
Autonomous agents, particularly in the field of robotics, rely on sensory information to perceive and navigate their environment. However, these sensory inputs are often imperfect, leading to distortions in the agent's internal…
Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…
In neuroscience, joint receptors have traditionally been viewed as limit detectors, providing positional information only at extreme joint angles, while muscle spindles are considered the primary sensors of joint angle position. However,…
When humans control drones, cars, and robots, we often have some preconceived notion of how our inputs should make the system behave. Existing approaches to teleoperation typically assume a one-size-fits-all approach, where the designers…
We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…
Being aware of our body has great importance in our everyday life. This is the reason why we know how to move in a dark room or to grasp a complex object. These skills are important for robots as well, however, robotic bodily awareness is…
Humans and animals are constantly exposed to a continuous stream of sensory information from different modalities. At the same time, they form more compressed representations like concepts or symbols. In species that use language, this…
The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…
Nanonetwork design and analysis has become a very interesting topic in recent years. Though this area of research is in its formative stage, it definitely posses a strong integrity in finding out numerous applications in medical and allied…