11 papers
Sensory Precision Inference for Multimodal Arbitration under Uncertainty
Tin Mišić, Takato Horii
Autonomous agents operating on multisensory data cannot assume that all sensory modalities remain consistently informative. In real environments, sensory streams are frequently cor…
DeicticVLA: Unifying Instruction Modes Based on Language and Deictic Gestures in a Single VLA
Kango Yanagida, Tatsuya Aoki, Yuichiro Yoshikawa +1
Vision-Language-Action models (VLAs) allow users to specify manipulation tasks in natural language, but distinguishing a target or placement goal among objects of the same category…
Relational Knowledge Distillation Brings DNN Representations Close Enough to Humans to Be Aligned Without Supervision
Yuria Shimizu, Soh Takahashi, Takato Horii +1
Linking the internal representations of deep neural networks (DNNs) to human mental representations is important for using DNNs as computational models of human vision. Existing DN…
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…
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…
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…
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…
Public Evaluation on Potential Social Impacts of Fully Autonomous Cybernetic Avatars for Physical Support in Daily-Life Environments: Large-Scale Demonstration and Survey at Avatar Land
Lotfi El Hafi, Kazuma Onishi, Shoichi Hasegawa +18
Cybernetic avatars (CAs) are key components of an avatar-symbiotic society, enabling individuals to overcome physical limitations through virtual agents and robotic assistants. Whi…
Correspondence of high-dimensional emotion structures elicited by video clips between humans and Multimodal LLMs
Haruka Asanuma, Naoko Koide-Majima, Ken Nakamura +3
Recent studies have revealed that human emotions exhibit a high-dimensional, complex structure. A full capturing of this complexity requires new approaches, as conventional models…