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Found 15 papers, 4 papers with code
Closed Loop Interactive Embodied Reasoning for Robot Manipulation
Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks typically in response to a natural language query about a specific physical environment.
Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements
The robot pipeline integrates with a logging module and an online database of objects, containing over 24, 000 measurements of 63 objects with different grippers.
Learning body models: from humans to humanoids
These experiments inform our work in which we construct embodied computational models on humanoid robots that address the mechanisms behind learning, adaptation, and operation of multimodal body representations.
Human keypoint detection for close proximity human-robot interaction
In particular, (i) we survey existing datasets with human pose annotation from the perspective of close proximity images and prepare and make publicly available a new Human in Close Proximity (HiCP) dataset; (ii) we quantitatively and qualitatively compare state-of-the-art human whole-body 2D keypoint detection methods (OpenPose, MMPose, AlphaPose, Detectron2) on this dataset; (iii) since accurate detection of hands and fingers is critical in applications with handovers, we evaluate the performance of the MediaPipe hand detector; (iv) we deploy the algorithms on a humanoid robot with an RGB-D camera on its head and evaluate the performance in 3D human keypoint detection.
Body schema or the body as its own best model
No central representations or maps of its body were found in its central nervous system.
Active Visuo-Haptic Object Shape Completion
We also propose a new simulation environment for this purpose.
Robot in the mirror: toward an embodied computational model of mirror self-recognition
Self-recognition or self-awareness is a capacity attributed typically only to humans and few other species.
Body models in humans, animals, and robots: mechanisms and plasticity
The key foundation is an internal representation of the body that the agent - human, animal, or robot - has developed.
PreCNet: Next-Frame Video Prediction Based on Predictive Coding
Predictive coding, currently a highly influential theory in neuroscience, has not been widely adopted in machine learning yet.
Symbol Emergence in Cognitive Developmental Systems: a Survey
However, the symbol grounding problem was originally posed to connect symbolic AI and sensorimotor information and did not consider many interdisciplinary phenomena in human communication and dynamic symbol systems in our society, which semiotics considered.
Robots as Powerful Allies for the Study of Embodied Cognition from the Bottom Up
A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence, models of cognition need to be embodied.
DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self
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.
Where is my forearm? Clustering of body parts from simultaneous tactile and linguistic input using sequential mapping
In species that use language, this process is further structured by this interaction, where a mapping between the sensorimotor concepts and linguistic elements needs to be established.
The encoding of proprioceptive inputs in the brain: knowns and unknowns from a robotic perspective
However, coming from robotics and seeking a biologically motivated model that could be used in a humanoid robot, we faced a number of difficulties.
Trade-Offs in Exploiting Body Morphology for Control: from Simple Bodies and Model-Based Control to Complex Bodies with Model-Free Distributed Control Schemes
Tailoring the design of robot bodies for control purposes is implicitly performed by engineers, however, a methodology or set of tools is largely absent and optimization of morphology (shape, material properties of robot bodies, etc.)
