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Mirror neurons within a monkey's premotor area F5 fire not only when the monkey performs a certain class of actions but also when the monkey observes another monkey (or the experimenter) perform a similar action. It has thus been argued that these neurons are crucial for understanding of actions by others. We offer the hand-state hypothesis as a new(More)
Although we can often infer the mental states of others by observing their actions, there are currently no computational models of this remarkable ability. Here we develop a computational model of mental state inference that builds upon a generic visuomanual feedback controller, and implements mental simulation and mental state inference functions using(More)
—Many complex robot motor skills can be represented using elementary movements, and there exist efficient techniques for learning parametrized motor plans using demonstrations and self-improvement. However, in many cases, the robot currently needs to learn a new elementary movement even if a parametrized motor plan exists that covers a similar, related(More)
The article contributes to the quest to relate global data on brain and behavior (e.g. from PET, Positron Emission Tomography, and fMRI. functional Magnetic Resonance Imaging) to the underpinning neural networks. Models tied to human brain imaging data often focus on a few "boxes" based on brain regions associated with exceptionally high blood flow, rather(More)
Humans manage to adapt learned movements very quickly to new situations by generalizing learned behaviors from similar situations. In contrast, robots currently often need to re-learn the complete movement. In this paper, we propose a method that learns to generalize parametrized motor plans by adapting a small set of global parameters, called(More)
Neurophysiology reveals the properties of individual mirror neurons in the macaque while brain imaging reveals the presence of 'mirror systems' (not individual neurons) in the human. Current conceptual models attribute high level functions such as action understanding, imitation, and language to mirror neurons. However, only the first of these three(More)
—Parental scaffolding is an important mechanism utilized by infants during their development. Infants, for example, pay stronger attention to the features of objects highlighted by parents and learn the way of manipulating an object while being supported by parents. In this paper, a robot with the basic ability of reaching for an object, closing fingers and(More)
The monkey parietal anterior intraparietal area (AIP) is part of the grasp planning and execution circuit which contains neurons that encode object features relevant for grasping, such as the width and the height. In this study we focus on the formation of AIP neurons during grasp development. We propose and implement a neural network structure and a(More)