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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)
If humanoid robots are to become commonplace in our society, it is important to understand how they are perceived by humans. An influent model in social cognitive neuroscience posits that in human face-to-face interaction, the observation of another individual performing an action facilitates the execution of a similar action, and interferes with the(More)
This paper presents ILGM (the Infant Learning to Grasp Model), the first computational model of infant grasp learning that is constrained by the infant motor development literature. By grasp learning we mean learning how to make motor plans in response to sensory stimuli such that open-loop execution of the plan leads to a successful grasp. The open-loop(More)
Being at the crux of human cognition and behaviour, imitation has become the target of investigations ranging from experimental psychology and neurophysiology to computational sciences and robotics. It is often assumed that the imitation is innate, but it has more recently been argued, both theoretically and experimentally, that basic forms of imitation(More)
Mirror neurons for manipulation fire both when the animal manipulates an object in a specific way and when it sees another animal (or the experimenter) perform an action that is more or less similar. Such neurons were originally found in macaque monkeys, in the ventral premotor cortex, area F5 and later also in the inferior parietal lobule. Recent(More)
SUMMARY This chapter underlines the multi-faced nature of reach and grasp behavior by reviewing several computational models that focus on selected features of reach to grasp movements. An abstract meta-model is proposed that subsumes previous modeling efforts, and points towards the need to develop computational models than embrace all the faces of(More)
In this paper we describe and experimentally evaluate how to model, control, and use the capabilities of a humanoid visual system with foveated vision. We present a computational process that can be utilized to identify and update the parameters of the robot's eyes under motion, which enables the use of 3-D vision on an active humanoid head. We also derive(More)