Related papers: Brain-inspired bodily self-perception model for ro…

Over the past decades, research in cognitive and affective neuroscience has emphasized that emotion is crucial for human intelligence and in fact inseparable from cognition. Concurrently, there has been growing interest in simulating and…

Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body ownership and agency,…

We present a pixel-based deep active inference algorithm (PixelAI) inspired by human body perception and action. Our algorithm combines the free-energy principle from neuroscience, rooted in variational inference, with deep convolutional…

The brain attenuates its responses to self-produced exteroceptions (e.g., we cannot tickle ourselves). Is this phenomenon, known as sensory attenuation, enabled innately, or acquired through learning? Here, our simulation study using a…

Body-focused repetitive behaviors (BFRBs), like face-touching or skin-picking, are hand-driven behaviors which can damage one's appearance, if not identified early and treated. Technology for automatic detection is still under-explored,…

While the original goal for developing robots is replacing humans in dangerous and tedious tasks, the final target shall be completely mimicking the human cognitive and motor behaviour. Hence, building detailed computational models for the…

The ability for autonomous agents to learn and conform to human norms is crucial for their safety and effectiveness in social environments. While recent work has led to frameworks for the representation and inference of simple social rules,…

Socially assistive robots could help to support people's well-being in contexts such as art therapy where human therapists are scarce, by making art such as paintings together with people in a way that is emotionally contingent and…

This review paper focuses on different aspects of perceived safety for a number of autonomous physical systems. This is a major aspect of robotics research, as more and more applications allow human and autonomous systems to share their…

Robots with anthropomorphic features are increasingly shaping how humans perceive and morally engage with them. Our research investigates how different levels of anthropomorphism influence protective responses to robot abuse, extending the…

Achieving versatile and naturalistic whole-body control for humanoid robot scene-interaction remains a significant challenge. While some recent works have demonstrated autonomous humanoid interactive control, they are constrained to rigid…

A remote robot operator's affective state can significantly impact the resulting robot's motions leading to unexpected consequences, even when the user follows protocol and performs permitted tasks. The recognition of a user operator's…

Automatically designing virtual humans and humanoids holds great potential in aiding the character creation process in games, movies, and robots. In some cases, a character creator may wish to design a humanoid body customized for certain…

Rodney Brooks (1991) put forth the idea that during an agent's interaction with its environment, representations of the world often stand in the way. Instead, using the world as its own best model, i.e. interacting with it directly without…

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…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical models of the hand, object, and time-varying contacts, as…

Active soft bodies can affect their shape through an internal actuation mechanism that induces a deformation. Similar to recent work, this paper utilizes a differentiable, quasi-static, and physics-based simulation layer to optimize for…

Consciousness is an explicit outcome of brain activity. However, the link between consciousness and the material world remains to be explored. We applied a new logic tool, the non-identity law, to the analysis of the visual dynamics related…

In this paper we consider the neuroscientific theory of the Bayesian brain in the light of adaptive web systems and content personalisation. In particular, we elaborate on neural mechanisms of human decision-making and the origin of lacking…