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2. Automated Classification of General Movements in Infants Using a Two-stream Spatiotemporal Fusion Network

Author

Hashimoto, Yuki, Furui, Akira, Shimatani, Koji, Casadio, Maura, Moretti, Paolo, Morasso, Pietro, and Tsuji, Toshio

Subjects
Computer Science - Computer Vision and Pattern Recognition, Electrical Engineering and Systems Science - Image and Video Processing
Abstract

The assessment of general movements (GMs) in infants is a useful tool in the early diagnosis of neurodevelopmental disorders. However, its evaluation in clinical practice relies on visual inspection by experts, and an automated solution is eagerly awaited. Recently, video-based GMs classification has attracted attention, but this approach would be strongly affected by irrelevant information, such as background clutter in the video. Furthermore, for reliability, it is necessary to properly extract the spatiotemporal features of infants during GMs. In this study, we propose an automated GMs classification method, which consists of preprocessing networks that remove unnecessary background information from GMs videos and adjust the infant's body position, and a subsequent motion classification network based on a two-stream structure. The proposed method can efficiently extract the essential spatiotemporal features for GMs classification while preventing overfitting to irrelevant information for different recording environments. We validated the proposed method using videos obtained from 100 infants. The experimental results demonstrate that the proposed method outperforms several baseline models and the existing methods., Comment: Accepted by MICCAI 2022

Published
2022

3. Phase resetting and intermittent control at critical edge of stability as major mechanisms of fractality in human gait cycle variability

Author

Fu, Chunjiang, Suzuki, Yasuyuki, Morasso, Pietro, and Nomura, Taishin

Subjects
Nonlinear Sciences - Adaptation and Self-Organizing Systems
Abstract

The fractality of human gait, namely, the long-range correlation that characterizes scale-free fluctuations of gait descriptors, such as the stride intervals during steady-state walking, depends on the well-tuned organization of the sensorimotor controller. Gait fractality is apparent in healthy young adults but tends to disappear in elderly individuals and neurological patients. Therefore, its partial loss may be indicative of pathological conditions. Despite its potential to be used as a dynamical biomarker for fall risk assessment, the mechanistic origin of gait fractality has been investigated by only a few studies, and even less attention has been devoted to the link between gait fractality and gait stability. Here, we propose a novel computational model of gait by addressing the flexibility-stability trade-off first, and then by showing that gait fractality is a natural consequence of the developed control mechanisms, including phase resetting and intermittent control, which supplement instability in a linear feedback controller operated at stability's edge. The results suggest that pathological gait, characterized by joint-rigidity and/or loss of fractality, may be caused by dysfunction in some of these mechanisms.

Published
2018
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5. Automated Classification of General Movements in Infants Using Two-Stream Spatiotemporal Fusion Network

Author

Hashimoto, Yuki, Furui, Akira, Shimatani, Koji, Casadio, Maura, Moretti, Paolo, Morasso, Pietro, Tsuji, Toshio, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Wang, Linwei, editor, Dou, Qi, editor, Fletcher, P. Thomas, editor, Speidel, Stefanie, editor, and Li, Shuo, editor

Published
2022
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9. Neural Simulation of Actions for Serpentine Robots.

Author

Morasso, Pietro

Subjects
*COGNITIVE robotics, *BODY schema, *COGNITIVE analysis, *DEGREES of freedom, *SERPENTINE
Abstract

The neural or mental simulation of actions is a powerful tool for allowing cognitive agents to develop Prospection Capabilities that are crucial for learning and memorizing key aspects of challenging skills. In previous studies, we developed an approach based on the animation of the redundant human body schema, based on the Passive Motion Paradigm (PMP). In this paper, we show that this approach can be easily extended to hyper-redundant serpentine robots as well as to hybrid configurations where the serpentine robot is functionally integrated with a traditional skeletal infrastructure. A simulation model is analyzed in detail, showing that it incorporates spatio-temporal features discovered in the biomechanical studies of biological hydrostats, such as the elephant trunk or octopus tentacles. It is proposed that such a generative internal model could be the basis for a cognitive architecture appropriate for serpentine robots, independent of the underlying design and control technologies. Although robotic hydrostats have received a lot of attention in recent decades, the great majority of research activities have been focused on the actuation/sensorial/material technologies that can support the design of hyper-redundant soft/serpentine robots, as well as the related control methodologies. The cognitive level of analysis has been limited to motion planning, without addressing synergy formation and mental time travel. This is what this paper is focused on. [ABSTRACT FROM AUTHOR]

Published
2024
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12. Artificial cognition vs. artificial intelligence for next-generation autonomous robotic agents.

Author

Sandini, Giulio, Sciutti, Alessandra, and Morasso, Pietro

Subjects
ARTIFICIAL intelligence, COGNITIVE robotics, ROBOTICS, COGNITIVE neuroscience, MIND & body, KNOWLEDGE acquisition (Expert systems), CYBER physical systems
Abstract

The trend in industrial/service robotics is to develop robots that can cooperate with people, interacting with them in an autonomous, safe and purposive way. These are the fundamental elements characterizing the fourth and the fifth industrial revolutions (4IR, 5IR): the crucial innovation is the adoption of intelligent technologies that can allow the development of cyber-physical systems, similar if not superior to humans. The common wisdom is that intelligence might be provided by AI (Artificial Intelligence), a claim that is supported more by media coverage and commercial interests than by solid scientific evidence. AI is currently conceived in a quite broad sense, encompassing LLMs and a lot of other things, without any unifying principle, but self-motivating for the success in various areas. The current view of AI robotics mostly follows a purely disembodied approach that is consistent with the old-fashioned, Cartesian mind-body dualism, reflected in the softwarehardware distinction inherent to the von Neumann computing architecture. The working hypothesis of this position paper is that the road to the next generation of autonomous robotic agents with cognitive capabilities requires a fully brain-inspired, embodied cognitive approach that avoids the trap of mindbody dualism and aims at the full integration of Bodyware and Cogniware. We name this approach Artificial Cognition (ACo) and ground it in Cognitive Neuroscience. It is specifically focused on proactive knowledge acquisition based on bidirectional human-robot interaction: the practical advantage is to enhance generalization and explainability. Moreover, we believe that a braininspired network of interactions is necessary for allowing humans to cooperate with artificial cognitive agents, building a growing level of personal trust and reciprocal accountability: this is clearly missing, although actively sought, in current AI. The ACo approach is a work in progress that can take advantage of a number of research threads, some of them antecedent the early attempts to define AI concepts and methods. In the rest of the paper we will consider some of the building blocks that need to be re-visited in a unitary framework: the principles of developmental robotics, the methods of action representation with prospection capabilities, and the crucial role of social interaction. [ABSTRACT FROM AUTHOR]

Published
2024
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32. Contributors

Author

Accoto, Dino, primary, Basteris, Angelo, additional, Bundy, David T., additional, Burdet, Etienne, additional, Butler, Andrew J., additional, Campolo, Domenico, additional, Casadio, Maura, additional, Chua, Karen Sui-Geok, additional, Colombo, Roberto, additional, Contu, Sara, additional, Coscia, Martina, additional, Elliott, Kevin C., additional, Feys, Peter, additional, Figueiredo, Joana, additional, Fitzgerald, Kathleen, additional, Frisoli, Antonio, additional, Gassert, Roger, additional, Guggenmos, David J., additional, Guglielmelli, Eugenio, additional, Housley, Stephen N., additional, Hussain, Asif, additional, Iandolo, Riccardo, additional, Jarrassé, Nathanaël, additional, Kager, Simone, additional, Khanh, Dinh Binh, additional, Klamroth-Marganska, Verena, additional, Krebs, Hermano Igo, additional, Lambercy, Olivier, additional, Lamers, Ilse, additional, Li, Yanan, additional, Marchal-Crespo, Laura, additional, Marini, Francesca, additional, Masia, Lorenzo, additional, Micera, Silvestro, additional, Mihelj, Matjaž, additional, Monaco, Vito, additional, Morasso, Pietro, additional, Moreno, Juan C., additional, Munih, Marko, additional, Nataletti, Sara, additional, Novak, Domen, additional, Nudo, Randolph J., additional, Petersen, Sandra W., additional, Ponassi, Valentina, additional, Pons, José L., additional, Popović, Dejan B., additional, Ranzani, Raffaele, additional, Riener, Robert, additional, Roby-Brami, Agnès, additional, Sanguineti, Vittorio, additional, Scheidt, Robert A., additional, Sedda, Giulia, additional, Simonetti, Davide, additional, Summa, Susanna, additional, Swinnen, Eva, additional, Tagliamonte, Nevio L., additional, Tropea, Peppino, additional, Turolla, Andrea, additional, Wilson, Antuvan Chris, additional, Xiloyannis, Michele, additional, Yongtae, Kim Giovanni, additional, and Zollo, Loredana, additional

Published
2018
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37. Do Humanoid Robots Need a Body Schema?

Author

De Santis, Dalia, Mohan, Vishwanathan, Morasso, Pietro, Zenzeri, Jacopo, Chella, Antonio, editor, Pirrone, Roberto, editor, Sorbello, Rosario, editor, and Jóhannsdóttir, Kamilla Rún, editor

Published
2013
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41. How Past Experience, Imitation and Practice Can Be Combined to Swiftly Learn to Use Novel 'Tools': Insights from Skill Learning Experiments with Baby Humanoids

Author

Mohan, Vishwanathan, Morasso, Pietro, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Prescott, Tony J., editor, Lepora, Nathan F., editor, Mura, Anna, editor, and Verschure, Paul F. M. J., editor

Published
2012
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43. Teaching Humanoids to Imitate ‘Shapes’ of Movements

Author

Mohan, Vishwanathan, Metta, Giorgio, Zenzeri, Jacopo, Morasso, Pietro, Hutchison, David, Kanade, Takeo, Kittler, Josef, Kleinberg, Jon M., Mattern, Friedemann, Mitchell, John C., Naor, Moni, Nierstrasz, Oscar, Pandu Rangan, C., Steffen, Bernhard, Sudan, Madhu, Terzopoulos, Demetri, Tygar, Doug, Vardi, Moshe Y., Weikum, Gerhard, Diamantaras, Konstantinos, editor, Duch, Wlodek, editor, and Iliadis, Lazaros S., editor

Published
2010
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45. A Forward / Inverse Motor Controller for Cognitive Robotics

Author

Mohan, Vishwanathan, Morasso, Pietro, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Kollias, Stefanos D., editor, Stafylopatis, Andreas, editor, Duch, Włodzisław, editor, and Oja, Erkki, editor

Published
2006
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