Related papers: Neural Models and Algorithms for Sensorimotor Cont…
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…
Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors…
Humans can leverage physical interaction to teach robot arms. As the human kinesthetically guides the robot through demonstrations, the robot learns the desired task. While prior works focus on how the robot learns, it is equally important…
Human interaction involves very sophisticated non-verbal communication skills like understanding the goals and actions of others and coordinating our own actions accordingly. Neuroscience refers to this mechanism as motor resonance, in the…
In the mammalian brain, newly acquired memories depend on the hippocampus for maintenance and recall, but over time the neocortex takes over these functions, rendering memories hippocampus-independent. The process responsible for this…
This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…
We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…
This paper proposes a prototype of a new biofeedback training based on mathematical models of cardiovascular control. For this purpose we develop a low-cost device that is able to record and process arterial pulse wave via…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this…
As robots become smarter and more ubiquitous, optimizing the power consumption of intelligent compute becomes imperative towards ensuring the sustainability of technological advancements. Neuromorphic computing hardware makes use of…
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dynamics model of a 1-dimensional pneumatic soft actuator that…
Musculoskeletal humanoids are robots that closely mimic the human musculoskeletal system, offering various advantages such as variable stiffness control, redundancy, and flexibility. However, their body structure is complex, and muscle…
Bio-inspired robotic systems are capable of adaptive learning, scalable control, and efficient information processing. Enabling real-time decision-making for such systems is critical to respond to dynamic changes in the environment. We…
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 motor control problem involves determining the time-varying muscle activation trajectories required to accomplish a given movement. Muscle redundancy makes motor control a challenging task: there are many possible activation…
Inspired by the vertebrate branch of the animal kingdom, articulated soft robots are robotic systems embedding elastic elements into a classic rigid (skeleton-like) structure. Leveraging on their bodies elasticity, soft robots promise to…
During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…
The real-world application of small drones is mostly hampered by energy limitations. Neuromorphic computing promises extremely energy-efficient AI for autonomous flight but is still challenging to train and deploy on real robots. To reap…
In recent years, the interdisciplinary research between information science and neuroscience has been a hotspot. In this paper, based on recent biological findings, we proposed a new model to mimic visual information processing, motor…