Bruno Lara
UAEM, Facultad de Ciencias, Faculty Member
Embodied Cognitive Robotics focuses its attention on the design of artificial agents capable of performing cognitive tasks autonomously. A central issue in this consists in studying process by which agents learn through interaction with... more
Embodied Cognitive Robotics focuses its attention on the design of artificial agents capable of performing cognitive tasks autonomously. A central issue in this consists in studying process by which agents learn through interaction with their environment. Embodied Cognitive Robotics aims to implement models of cognitive processes coming from Cognitive Sciences. The guidelines in this research area are a direct response to the shortcomings of Classical Artificial Intelligence, where high-level tasks and behaviors were studied. This article describes the work carried out in the Cognitive Robotics Laboratory at the Universidad Autónoma del Estado de Morelos (UAEM). Our work is based on the concept of low-level sensorimotor schemes coded by Internal Models, thus falling as a matter of course within the tenets of Embodied Cognition, particularly with the idea that cognition must be understood as occurring in agents that have a body with which they interact in a specific environment. It is through this interaction that learning emerges laying the ground for cognitive processes. Our research includes theoretical work laying the foundations of Embodied Cognitive Robotics, as well as work with artificial and with natural agents.
... 1082 K Althoefer, B Lara, YH Zweiri, and LD Seneviratne ... The presented experi-mental data (torque-versus-time signals) is overall in agreement with the results presented in this paper; deviations are mainly due to differences in... more
... 1082 K Althoefer, B Lara, YH Zweiri, and LD Seneviratne ... The presented experi-mental data (torque-versus-time signals) is overall in agreement with the results presented in this paper; deviations are mainly due to differences in the taper and screw geometries as well as in the ...
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ResumenLa investigación presentada en este artículo esta fundamentada en la importancia que los conceptos de predicción y acción juegan en el proceso perceptual de un sistema cognitivo. Para lograr esto se utilizan los modelos directos... more
ResumenLa investigación presentada en este artículo esta fundamentada en la importancia que los conceptos de predicción y acción juegan en el proceso perceptual de un sistema cognitivo. Para lograr esto se utilizan los modelos directos como una ...
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Research Interests: Epidemiology, Numerical Methods, Numerical Method, Parameter estimation, Finland, and 18 moreBiological Sciences, Seasonality, Disease Outbreaks, Humans, Child, Mathematical Sciences, Estimation, Gambia, Respiratory Syncytial Virus, Inverse Problem, Recurrence, Mathematical Model, Mathematical Concepts, Seasons, Epidemic Model, Respiratory Syncytial Virus Infections Industry, Ordinary Differential Equation, and Disease Prevalence
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Using forward models as a basic cognitive tool, the cornerstone of the research presented in this paper is the importance of prediction and action as part of the perceptual process of a cognitive system. An artificial agent equipped with... more
Using forward models as a basic cognitive tool, the cornerstone of the research presented in this paper is the importance of prediction and action as part of the perceptual process of a cognitive system. An artificial agent equipped with a forward model is allowed to interact with its environment in order to learn the prediction of undesired situations. The forward
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An evolutionary algorithm for the creation of recurrent networkstructures is presented. The aim is to develop neural networks controllingthe behaviour of miniature robots. Two different tasks aresolved with this approach. For the first,... more
An evolutionary algorithm for the creation of recurrent networkstructures is presented. The aim is to develop neural networks controllingthe behaviour of miniature robots. Two different tasks aresolved with this approach. For the first, the agents are required tomove within an environment without colliding with obstacles. In thesecond task, the agents are required to move towards a light source.The evolution process
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To study the relevance of recurrent neural network structures for the behavior of autonomous agents a series of experiments with minia- ture robots is performed. A special evolutionary algorithm is used to generate networks of different... more
To study the relevance of recurrent neural network structures for the behavior of autonomous agents a series of experiments with minia- ture robots is performed. A special evolutionary algorithm is used to generate networks of different sizes and architectures. Solutions for obstacle avoidance and phototropic behavior are presented. Networks are evolved with the help of simulated robots, and the results
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An evolutionary algorithm for the creation of recurrent network structures is presented. The aim is to develop neural networks con- trolling the behaviour of miniature robots. Two neuro-modules are created separately using this... more
An evolutionary algorithm for the creation of recurrent network structures is presented. The aim is to develop neural networks con- trolling the behaviour of miniature robots. Two neuro-modules are created separately using this evolutionary approach. The first neuro- module gives the agents the ability to move within an environment without colliding with obstacles. The second neuro-module provides the agents with
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An artificial agent making use of a forward model is let to interact with its environment in order to learn the prediction of multimodal sensory situations. Using forward models as a basic cognitive tool, the importance of anticipation,... more
An artificial agent making use of a forward model is let to interact with its environment in order to learn the prediction of multimodal sensory situations. Using forward models as a basic cognitive tool, the importance of anticipation, prediction and action as ...
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Abstract. The research presented in this paper highlights the importance of prediction and action as part of the perceptual process of a cognitive system. Through interaction with its environment a forward model is trained to predict... more
Abstract. The research presented in this paper highlights the importance of prediction and action as part of the perceptual process of a cognitive system. Through interaction with its environment a forward model is trained to predict multi-modal sensory representations ...
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Screw fastenings account for a quarter of all assembly operations and automation of the process is highly desirable. This paper presents a novel strategy for monitoring this manufacturing process, focusing on the insertion of self-tapping... more
Screw fastenings account for a quarter of all assembly operations and automation of the process is highly desirable. This paper presents a novel strategy for monitoring this manufacturing process, focusing on the insertion of self-tapping screws. An artificial neural network ...
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... Bruno Lara, Kaspar Althoefer, Lakmal D. Seneviratne Division of Engineering King's College London WC2R 2LS London, United Kingdom { bruno.lara, kaspar.althoefer, lakmal ... that the tip of the screw makes witli... more
... Bruno Lara, Kaspar Althoefer, Lakmal D. Seneviratne Division of Engineering King's College London WC2R 2LS London, United Kingdom { bruno.lara, kaspar.althoefer, lakmal ... that the tip of the screw makes witli the hole in the tap plate until the cutting portion, in the taper of the ...
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Abstract The automation of screw insertions is a highly desirable task An important part of the automation process is the monitoring of the insertion. This paper presents an application of artijicial neural networks for monitoring this... more
Abstract The automation of screw insertions is a highly desirable task An important part of the automation process is the monitoring of the insertion. This paper presents an application of artijicial neural networks for monitoring this common manufacturing procedure. The research ...
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Summary A modular approach to neural behavior control of autonomous robots is presented. It is based on the assumption that complex internal dynamics of recurrent neural networks can efficiently solve complex behavior tasks. For the... more
Summary A modular approach to neural behavior control of autonomous robots is presented. It is based on the assumption that complex internal dynamics of recurrent neural networks can efficiently solve complex behavior tasks. For the development of appropriate ...
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Research Interests:
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ABSTRACT Mental imagery has become a central issue in research laboratories seeking to emulate basic cognitive abilities in artificial agents. In this work, we propose a computational model to produce an anticipatory behaviour by means of... more
ABSTRACT Mental imagery has become a central issue in research laboratories seeking to emulate basic cognitive abilities in artificial agents. In this work, we propose a computational model to produce an anticipatory behaviour by means of a multi-modal off-line hebbian association. Unlike the current state of the art, we propose to apply hebbian learning during an internal sensorimotor simulation, emulating a process of mental imagery. We associate visual and tactile stimuli re-enacted by a long-term predictive simulation chain motivated by covert actions. As a result, we obtain a neural network which provides a robot with a mechanism to produce a visually conditioned obstacle avoidance behaviour. We developed our system in a physical Pioneer 3-DX robot and realised two experiments. In the first experiment we test our model on one individual navigating in two different mazes. In the second experiment we assess the robustness of the model by testing in a single environment five individuals trained under different conditions. We believe that our work offers an underpinning mechanism in cognitive robotics for the study of motor control strategies based on internal simulations. These strategies can be seen analogous to the mental imagery process known in humans, opening thus interesting pathways to the construction of upper-level grounded cognitive abilities.
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The Chinese room argument has presented a persistent headache in the search for Artificial Intelligence. Since it first appeared in the literature, various interpretations have been made, attempting to understand the problems posed by... more
The Chinese room argument has presented a persistent headache in the search for Artificial Intelligence. Since it first appeared in the literature, various interpretations have been made, attempting to understand the problems posed by this thought experiment. Throughout all this time, some researchers in the Artificial Intelligence community have seen Symbol Grounding as proposed by Harnad as a solution to the Chinese Room Argument. The main thesis in this paper is that although related, these two issues present different problems in the framework presented by Harnad himself. The work presented here attempts to shed some light on the relationship between Searle’s intentionality notion and Harnad’s Symbol Grounding Problem.