Related papers: End-to-End Pixel-Based Deep Active Inference for B…

This work will elaborate the fundamental principles of physical artificial intelligence (Physical AI) from a scientific and systemic perspective. The aim is to create a theoretical foundation that describes the physical embodiment, sensory…

In this paper we introduce a general estimation methodology for learning a model of human perception and control in a sensorimotor control task based upon a finite set of demonstrations. The model's structure consists of i the agent's…

In this work we tackle the problem of child engagement estimation while children freely interact with a robot in their room. We propose a deep-based multi-view solution that takes advantage of recent developments in human pose detection. We…

Activity recognition is the ability to identify and recognize the action or goals of the agent. The agent can be any object or entity that performs action that has end goals. The agents can be a single agent performing the action or group…

Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…

Self/other distinction and self-recognition are important skills for interacting with the world, as it allows humans to differentiate own actions from others and be self-aware. However, only a selected group of animals, mainly high order…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

Two distinct technologies have gained attention lately due to their prospects for motor rehabilitation: robotics and brain-machine interfaces (BMIs). Harnessing their combined efforts is a largely uncharted and promising direction that has…

The free energy principle, and its corollary active inference, constitute a bio-inspired theory that assumes biological agents act to remain in a restricted set of preferred states of the world, i.e., they minimize their free energy. Under…

Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…

While learning from synthetic training data has recently gained an increased attention, in real-world robotic applications, there are still performance deficiencies due to the so-called Sim-to-Real gap. In practice, this gap is hard to…

We present ActiveUMI, a framework for a data collection system that transfers in-the-wild human demonstrations to robots capable of complex bimanual manipulation. ActiveUMI couples a portable VR teleoperation kit with sensorized controllers…

Optimal control of complex environments with robotic systems faces two complementary and intertwined challenges: efficient organization of sensory state information and far-sighted action planning. Because the reinforcement learning…

Unlike most reinforcement learning agents which require an unrealistic amount of environment interactions to learn a new behaviour, humans excel at learning quickly by merely observing and imitating others. This ability highly depends on…

The extensive ubiquitous availability of sensors in smart devices and the Internet of Things (IoT) has opened up the possibilities for implementing sensor-based activity recognition. As opposed to traditional sensor time-series processing…

Purpose: Robot-assisted minimally invasive surgery relies on endoscopic video as the sole intraoperative visual feedback. The DaVinci Xi system overlays a graphical user interface (UI) that indicates the state of each robotic arm, including…

Active Inference is a closed-loop computational theoretical basis for understanding behaviour, based on agents with internal probabilistic generative models that encode their beliefs about how hidden states in their environment cause their…

Humans can infer approximate interaction force between objects from only vision information because we already have learned it through experiences. Based on this idea, we propose a recurrent convolutional neural network-based method using…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

Action recognition is a vital task in computer vision, and many methods are developed to push it to the limit. However, current action recognition models have huge computational costs, which cannot be deployed to real-world tasks on mobile…