Related papers: Brain-inspired bodily self-perception model for ro…
Robots today often miss a key ingredient of truly intelligent behavior: the ability to reflect on their own cognitive processes and decisions. In humans, this self-monitoring or metacognition is crucial for learning, decision making and…
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…
Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…
Noninvasive brain-computer interface (BCI) is widely used to recognize users' intentions. Especially, BCI related to tactile and sensation decoding could provide various effects on many industrial fields such as manufacturing advanced touch…
Today digital sources supply an unprecedented component of human sensorimotor data, the consumption of which is correlated with poorly understood maladies such as Internet Addiction Disorder and Internet Gaming Disorder. This paper offers a…
The thesis explores the role machine learning methods play in creating intuitive computational models of neural processing. Combined with interpretability techniques, machine learning could replace human modeler and shift the focus of human…
Research in cognitive science has provided extensive evidence of human cognitive ability in performing physical reasoning of objects from noisy perceptual inputs. Such a cognitive ability is commonly known as intuitive physics. With…
Self-Modeling is the process by which an agent, such as an animal or machine, learns to create a predictive model of its own dynamics. Once captured, this self-model can then allow the agent to plan and evaluate various potential behaviors…
Self-recognition -- the ability to maintain an internal representation of one's own body within the environment -- underpins intelligent, autonomous behavior. As a foundational component of the minimal self, self-recognition provides the…
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…
This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The…
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…
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…
Self-consciousness, the introspection of one's existence and thoughts, represents a high-level cognitive process. As language models advance at an unprecedented pace, a critical question arises: Are these models becoming self-conscious?…
The hand, a complex effector comprising dozens of degrees of freedom of movement, endows us with the ability to flexibly, precisely, and effortlessly interact with objects. The neural signals associated with dexterous hand movements in…
With the accelerated development of robot technologies, optimal control becomes one of the central themes of research. In traditional approaches, the controller, by its internal functionality, finds appropriate actions on the basis of the…
Advances in wearable robotics challenge the traditional definition of human motor systems, as wearable robots redefine body structure, movement capability, and perception of their own bodies. We measured gait performance and perceived body…
Subjective self-disclosure is an important feature of human social interaction. While much has been done in the social and behavioural literature to characterise the features and consequences of subjective self-disclosure, little work has…
In immersive Virtual Reality (VR), your brain can trick you into believing that your virtual hands are your real hands. Manipulating the representation of the body, namely the avatar, is a potentially powerful tool for the design of…
We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…