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Atsushi Masumori
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Proceedings Papers
. isal2024, ALIFE 2024: Proceedings of the 2024 Artificial Life Conference91, (July 22–26, 2024) 10.1162/isal_a_00710
Proceedings Papers
. isal2024, ALIFE 2024: Proceedings of the 2024 Artificial Life Conference105, (July 22–26, 2024) 10.1162/isal_a_00799
Proceedings Papers
. isal2024, ALIFE 2024: Proceedings of the 2024 Artificial Life Conference53, (July 22–26, 2024) 10.1162/isal_a_00778
Abstract
View Papertitled, Minimal Self in Humanoid Robot “Alter3” Driven by Large Language Model
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for content titled, Minimal Self in Humanoid Robot “Alter3” Driven by Large Language Model
This paper introduces Alter3, a humanoid robot that demonstrates spontaneous motion generation through the integration of GPT-4, Large Language Model (LLM). This overcomes challenges in applying language models to direct robot control. By translating linguistic descriptions into actions, Alter3 can autonomously perform various tasks. The key aspect of humanoid robots is their ability to mimic human movement and emotions, allowing them to leverage human knowledge from language models. This raises the question of whether Alter3+GPT-4 can develop a “minimal self” with a sense of agency and ownership. This paper introduces mirror self-recognition and rubber hand illusion tests to assess Alter3’s potential for a sense of self. The research suggests that even disembodied language models can develop agency when coupled with a physical robotic platform.
Proceedings Papers
Embodied Time Perception: Effects of Time Delay on Hand Motion and Time Estimation in Virtual Environments
Open Access
. isal2023, ALIFE 2023: Ghost in the Machine: Proceedings of the 2023 Artificial Life Conference39, (July 24–28, 2023) 10.1162/isal_a_00630
Abstract
View Papertitled, Embodied Time Perception: Effects of Time Delay on Hand Motion and Time Estimation in Virtual Environments
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for content titled, Embodied Time Perception: Effects of Time Delay on Hand Motion and Time Estimation in Virtual Environments
We investigated the effect of time delay on hand motion and subjective time perception in a virtual environment. Our results indicated that time delays correlated with decreased hand motion speed and altered time perception. These findings suggest that body movements act as critical reference points for constructing subjective time, and alterations in these references can influence time perception.
Proceedings Papers
Development of Concept Representation of Behavior through Mimicking and Imitation in a Humanoid Robot Alter3
Open Access
. isal2023, ALIFE 2023: Ghost in the Machine: Proceedings of the 2023 Artificial Life Conference42, (July 24–28, 2023) 10.1162/isal_a_00635
Abstract
View Papertitled, Development of Concept Representation of Behavior through Mimicking and Imitation in a Humanoid Robot Alter3
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for content titled, Development of Concept Representation of Behavior through Mimicking and Imitation in a Humanoid Robot Alter3
In this study, we introduce a novel system whereby a humanoid robot, named Alter3, employs a selective combination of three strategies - Mimicking, Imitation, and Dream - to replicate human behavior observed through its camera-based eyes. This work builds upon previous research [Masumori et al. (2021); Ikegami et al. (2021)]. In Mimicking mode, Alter3 recreates “how” a human moves by calculating joint angles. In Imitation mode, it identifies and reproduces symbolic poses through a pre-trained Variational AutoEncoder (VAE), essentially replicating “what” the human did. When imitation proves unsuccessful, Alter3 engages its Dream mode, where it recalls altered memories through selection and mutation processes, allowing it to generate movements based on experience. Moreover, in the absence of a human subject, Alter3, with its eyes closed, retrieves and performs movements from memory. Our findings reveal that the concurrent use of the three strategies (Mimicking, Imitation, Dreaming) stabilizes the latent space state and optimizes the range of identifiable poses. Furthermore, the behavior that Alter3 generates through Dream mode evolves from symbolic movements via the Imitation pathway. These findings suggest that new movements can be created from concept-based motions by selectively employing both methodical (Mimicking) and symbolic (Imitation) motions.
Proceedings Papers
. isal2023, ALIFE 2023: Ghost in the Machine: Proceedings of the 2023 Artificial Life Conference101, (July 24–28, 2023) 10.1162/isal_a_00634
Proceedings Papers
Studying Embodied Cognition in the Android Alter
Open Access
. isal2021, ALIFE 2021: The 2021 Conference on Artificial Life53, (July 18–22, 2021) 10.1162/isal_a_00463
Abstract
View Papertitled, Studying Embodied Cognition in the Android Alter
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for content titled, Studying Embodied Cognition in the Android Alter
In this study, we report the investigations conducted on the mimetic behavior of a new humanoid robot called Alter3. Alter3 autonomously imitates the motions of a human in front of him and stores the motion sequences in its memory. Alter3 also contains a self-simulator that simulates its own motions before executing them and generates a self-image. We investigate how this mimetic behavior evolves with human interaction, by analyzing memory dynamics and information flow between Alter3 and humans. One important observation from this study is that when Alter3 fails to imitate human motion, humans tend to imitate Alter3 instead. This tendency is quantified by the alternation of the direction of information flow. At the conference we will also report on the experiments we carried out recently, in which two Alters imitated each other, and in which we let people possess and imitate Alter.
Proceedings Papers
Evolving Acoustic Niche Differentiation and Soundscape Complexity Based on Intraspecific Sound Communication
Open Access
. isal2020, ALIFE 2020: The 2020 Conference on Artificial Life465-472, (July 13–18, 2020) 10.1162/isal_a_00296
Abstract
View Papertitled, Evolving Acoustic Niche Differentiation and Soundscape Complexity Based on Intraspecific Sound Communication
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for content titled, Evolving Acoustic Niche Differentiation and Soundscape Complexity Based on Intraspecific Sound Communication
Acoustic ecologist Bernie Krause hypothesized that rich soundscapes in mature ecosystems are generated by sound communication between different species with differentiating acoustic niches. This hypothesis, called the acoustic niche hypothesis, proposes that in a mature ecosystem, the singing of a species occupies a unique bandwidth in frequency and shifts in time to avoid competition, thus making the communication efficient. We hypothesize that selective pressure on communication complexity is required for differentiating and filling acoustic niches by a limited number of species, in addition to selective pressures on communication efficiency. To test this hypothesis, we built an evolutionary model where agents can emit complex sounds. Our simulations with the model demonstrate that selective pressure on communication efficiency and complexity leads to an evolution in spectral differentiation with a limited number of species filling the acoustic niche. This is the first demonstration of acoustic niche differentiation using an artificial life model with complex-sounding agents. We also propose multi-timescale complexity measurement, extending the Jensen–Shannon complexity using multi-scale permutation entropy. We analyze the evolved soundscape in the simulations using this measure. The result shows that multi-timescale complexity in soundscape evolved, suggesting that evolving niche differentiation leads to ecological complexity. We implement the extended model in real space and demonstrate that the system can adaptively generate sounds, differentiating acoustic niches with environmental sounds.
Proceedings Papers
Autonomous Regulation of Self and Non-Self by Stimulation Avoidance in Embodied Neural Networks
Open Access
. alife2018, ALIFE 2018: The 2018 Conference on Artificial Life163-170, (July 23–27, 2018) 10.1162/isal_a_00037
Abstract
View Papertitled, Autonomous Regulation of Self and Non-Self by Stimulation Avoidance in Embodied Neural Networks
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for content titled, Autonomous Regulation of Self and Non-Self by Stimulation Avoidance in Embodied Neural Networks
Our previous study showed that embodied cultured neural networks and spiking neural networks with spike-timing dependent plasticity (STDP) can learn a behavior as they avoid stimulation from outside. In a sense, the embodied neural network can autonomously change their activity to avoid external stimuli. In this paper, as a result of our experiments using cultured neurons, we find that there is also a second property allowing the network to avoid stimulation: if the network cannot learn to avoid the external stimuli, it tends to decrease the stimulus-evoked spikes as if to ignore the input neurons. We also show such a behavior is reproduced by spiking neural networks with asymmetric-STDP. We consider that these properties can be regarded as autonomous regulation of self and non-self for the network.
Proceedings Papers
A new design principle for an autonomous robot
Open Access
. ecal2017, ECAL 2017, the Fourteenth European Conference on Artificial Life490-466, (September 4–8, 2017) 10.1162/isal_a_080
Abstract
View Papertitled, A new design principle for an autonomous robot
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for content titled, A new design principle for an autonomous robot
Based on the principle of artificial life, we developed an upper-body android called "Alter." Alter is human-like in appearance, receives sensory information from the outside via an autonomous sensor system located around the android, and moves spontaneously using two autonomous systems of internal dynamics. Its body and arms contain a central pattern generator with seven degrees of freedom and hundreds of plastic artificial neurons. We investigated Alter’s environmental adaptability and the spontaneity of is behavioral patterns. In addition, we discuss the conditions under which a robot can become lifelike.
Proceedings Papers
. ecal2017, ECAL 2017, the Fourteenth European Conference on Artificial Life275-282, (September 4–8, 2017) 10.1162/isal_a_048
Abstract
View Papertitled, Learning by stimulation avoidance scales to large neural networks
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for content titled, Learning by stimulation avoidance scales to large neural networks
Spiking neural networks with spike-timing dependent plasticity (STDP) can learn to avoid the external stimulations spontaneously. This principle is called "Learning by Stimulation Avoidance" (LSA) and can be used to reproduce learning experiments on cultured biological neural networks. LSA has promising potential, but its application and limitations have not be studied extensively. This paper focuses on the scalability of LSA for large networks and shows that LSA works well in small networks (100 neurons) and can be scaled to networks up to approximately 3,000 neurons.
Proceedings Papers
. ecal2015, ECAL 2015: the 13th European Conference on Artificial Life373-380, (July 20–24, 2015) 10.1162/978-0-262-33027-5-ch067
View Papertitled, Emergence of Sense-Making Behavior by the Stimulus Avoidance Principle: Experiments on a Robot Behavior Controlled by Cultured Neuronal Cells
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for content titled, Emergence of Sense-Making Behavior by the Stimulus Avoidance Principle: Experiments on a Robot Behavior Controlled by Cultured Neuronal Cells
Proceedings Papers
Learning by Stimulation Avoidance as a Primary Principle of Spiking Neural Networks Dynamics
Open Access
. ecal2015, ECAL 2015: the 13th European Conference on Artificial Life175-182, (July 20–24, 2015) 10.1162/978-0-262-33027-5-ch037
Proceedings Papers
. alife2014, ALIFE 14: The Fourteenth International Conference on the Synthesis and Simulation of Living Systems539-540, (July 30–August 2, 2014) 10.1162/978-0-262-32621-6-ch086
Proceedings Papers
. alife2014, ALIFE 14: The Fourteenth International Conference on the Synthesis and Simulation of Living Systems987-988, (July 30–August 2, 2014) 10.1162/978-0-262-32621-6-ch161
Proceedings Papers
. alife2014, ALIFE 14: The Fourteenth International Conference on the Synthesis and Simulation of Living Systems769-770, (July 30–August 2, 2014) 10.1162/978-0-262-32621-6-ch124