GT8 « Robotics & Neuroscience » - isir.upmc

GT8 « Robotics & Neuroscience »Activity Report

GDR Robotics Days, FranceGT8 Presentation, 5 Nov 2020

Main positioning of GT8 activities

Also strong links with:

• Machine Learning (incl. Deep Learning)

• Developmental Psychology / Cognition

• Humanoid Robotics

• Biomimetics / Bioinspiration

• Maps / Mental representations for navigation

• Langage-based human-robot interaction

GT8 Presentation, 5 Nov 2020

Merger of GT8+GT ‘Learning & Robotics’ in 2020

• GT8 ‘Robotics & Neuroscience’ and GT ‘Learning & Robotics’ will mergeinto a new joint GT on ‘Learning and Neuroscience for Robotics’ fromnow on.

• Today:• Presentation of ‘Robotics & Neuro’ activities (Mehdi Khamassi)• Presentation of ‘Learning & Robotics’ activities (David Filliat)• Perspective on future joint activities (Ghilès Mostafaoui)


GT8 « Robotique et Neurosciences »Overview• 15 research teams:

• ETIS Neurocyber (Cergy)• ISIR AMAC (Paris)• Inst. Vision AVA (Paris)• INRIA Mnemosyne (Bordeaux)• INRIA Flowers (Bordeaux)• LAAS Gepetto (Toulouse)• LORIA Neurorhythms (Nancy)• LORIA Larsen (Nancy)• LORIA Biscuit (Nancy)• UCL GEEST (Lyon)• LIRIS Imagine (Lyon)• Institut Pascal ComSee (Clermont)• INSERM RCL (Dijon)• CNRS ISMEJM (Marseille)

• Members:• 91 chercheurs permanents• >100 post-doc / doctorants• 3 main industrial members

• Strong industrial partners:• AnotherBrain (Paris)• CEA Tech Région Pays de la Loire

(Nantes)• Pollen Robotics (Bordeaux)

• Strong Neuroscience partners:• INCIA DECAD (Bordeaux)• IMN PPFE (Bordeaux)• INT Bagamore (Marseille)• LNC Cognition spatiale (Marseille)• UNIC All (Gif-sur-Yvette)• Institut Pasteur UGHFC (Paris)• Collège de France CIRB (Paris)• Sorbonne Univ. Navigation (Paris)• INSERM/SU ICM (Paris)• INSERM NEF (Lyon)• CERCO PAF (Toulouse)• + labs outside France


GT8 Yearly activity

2 to 4 events per year:• 2 small 1-day meetings with ~40

people (one in spring/on in

autumn)

• Yearly support to the NeuroSTIC

colloquium

• Regular support to the RIS

summerschool

• Punctual events co-organized

with other GTs (GT5, GT7, GT8)

or with external networks (e.g.,

AI and the brain, Japan)


GT8 Representative work (1)Neuro-inspired models of vision

• Large-scale simulation of the early visual processing with arbitraryspatiotemporal receptive fields

• GPU-based parameter tuning of the retinal network based on recordingdata and deep learning

• Potential application: Neuromorphic implementation of artificial eyeswith automatically tuned parameters

(Huth et al. (2018) Front Neuroinform, 12:9; Huth et al. (2017) BioRxiv,169284; Masquelier et al. (2016) Sci Rep 6:24086)


• Open source hardware and software

• Compliant, jumps, high reversibility actuationGrimminger et al. (2020) IEEE Robotics and Automation Letters


GT8 Representative work (2)Torque-controlled legged locomotion

LAAS Gepetto team (Toulouse) in collab. with Max Planck

• Trial-and-error learning of calibration of Kinesthetic motor imagery for grasping. Potential applications: sports training; rehabilitation.

Rimbert et al. (2020) SMC 2020 (best student paper attributed by IEEESociety & Brain Initiative).


GT8 Representative work (3)Kinesthetic motor imagery (with BCI)

• Neural Language model predicts human brain responses

• And allows more fluid construction of social coherence in human-robot interaction with a group

Uchida et al. (2020) Neurobiology of Langage / IEEE Ro-MAN 2020


GT8 Representative work (3)Neural Language Model

Group Narrative Experience

INSERM U1093 DIJON - Robot Cognition Laboratory

• Collaboration with Institut Vedecom[Autonomous Vehicle]

Espada, Cuperlier et al. (2018) ICARCV


GT8 Representative work (4)Bio-inspired outdoor navigation

• Online coordination of model-based and model-free reinforcement learning(neuro-inspired)

• Same model apply to navigation and interaction

• Links with neuroscience (PLoS Biology 2018; Nature Communications 2020)

Dromnelle et al. (2020) Living Machines Conf / IEEE Ro-MAN 2020


GT8 Representative work (5)Robot cognitive architectures

ISIR UMR 7222, AMAC Team, Paris

• Intrinsic drive to reduce uncertainty, and to experiencing novelty, surprise, cognitive dissonance, challenge

• Contribution: Introduction of a unified formal and theoreticalframework in psychology and neuroscience

• (Nature Reviews Neuroscience, 2018; Frontiers in Neurorobotics 2020)


GT8 Representative work (6)Curiosity and active learning

INRIA Flowers, Bordeaux

Some GT8 Highlights (2019-2020)• Several chairs created

• ‘Remember’ (Robotics/Learning) at LIRIS, Lyon• ‘Brain-Inspired Artificial Intelligence for Mobile Robots’ (Jochen Triesch) at Clermont• ‘Neuroscience and Robotics’ at ETIS, Cergy

• New projects starting• ANR ‘Cocreativity and problem solving evaluation’, Mnemosyne, Bordeaux• ANR ‘Grasp-IT tangible and haptic brain computer interface’, LORIA, Nancy• EU ERASMUS ’Learning and computer science’, Mnemosyne, Bordeaux• CNRS 80|PRIME ‘Hippocampal replay and reinforcement learning’, ISIR, Paris• EU ‘Aviation Noise Impact Management through novel Approaches’ at ETIS, Cergy

• Scientific/technological context• Increased interest of neuroscience/cognitive researchers in robotics• Deep learning continues its rise• A number of our former PhD students go to Deep Learning companies• Opportunities for collaborations with AI researchers and companies


‘Drôles d’objets’ Conferencereported to April 2021• Important dates and venue

• Extended abstract submission deadline: 16 Nov

• Conference dates: 29 March – April 1, 2021

• Conference venue: La Rochelle

• Main theme:

• Interaction with animated artificial objects

• GT8-related organisers:

• INRIA LORIA / Univ. Lorraine (Nancy)

• Univ. La Rochelle / CNRS (La Rochelle)

• ETIS Neurocyber (Cergy)

• INRIA Mnemosyne (Bordeaux)

• INRIA Flowers (Bordeaux)

• ISIR Piros (Paris)


‘Simulation of Adaptive Behavior’ Conference, reported to Sept 2021• Important dates and venue

• Full paper submission deadline: 1 April 2021• Conference dates: 20-24 September 2021• Conference venue: Cergy

• Main theme• Understanding flexible behavior at the interface

between artificial intelligence, robotics, ethology, biology, psychology and philosophy.

• GT8-related organisers:• ETIS Neurocyber (Cergy)


GT8 « Robotics & Neuroscience » - isir.upmc

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