8 papers
Social Reality Construction via Active Inference: Modeling the Dialectic of Conformity and Creativity
Kentaro Nomura, Takato Horii
Social agents both internalize collective norms and reshape them through creative action, yet computational models have not captured this bidirectional process within a unified fra…
VENOM: Versatile Embodied Network for Omni-bodied Motion tracking
Siddharth Padmanabhan, Kazuki Miyazawa, Takato Horii
Achieving expert-level expressive full-body motion tracking across multiple humanoids solely from demonstration data remains a challenging and relatively an underexplored problem i…
Dynamic Representational Synchrony through Collective Predictive Coding: A Computational Model of Parent-Infant Homeostatic Co-Regulation
Yushi Tsubamoto, Takato Horii
Inter-brain synchrony (IBS) observed in real-time dyadic interactions, including parent-infant exchanges, suggests that two agents can align their internal representations through…
SADP: Subgoal-Aware Diffusion Policy for Long-Horizon Manipulation Learned from Foundation Model Generated Demonstrations
Site Hu, Takato Horii
Long-horizon robot manipulation requires policies to coordinate multiple intermediate subgoals and determine when to advance between them. However, most imitation learning methods…
Emergent Communication for Co-constructed Emotion Between Embodied Agents via Collective Predictive Coding
Zehang Zhang, Nguyen Le Hoang, Tadahiro Taniguchi +1
According to the theory of constructed emotion, the brain actively forms emotion categories by integrating multimodal bodily signals, and constructs emotional experiences by using…
Emergence of Social Reality of Emotion through a Social Allostasis Model with Dynamic Interpretants
Kentaro Nomura, Yushi Tsubamoto, Takato Horii
The theory of constructed emotion defines social reality as the community-level consensus on emotion concepts assigned to interoceptive sensations arising from bodily allostasis an…