The candidate will join our research at the Honda Research Institute Europe in the area of knowledge engines for common-sense reasoning of robots and AI agents in real-world environments.

This PhD subject focuses on the association between attention and spiking neural networks for defining new efficient AI models for embedded systems such as drones, robots and more generally autonomous systems. The thesis will take place between the LEAT research lab in Sophia-Antipolis and the INT institute in Marseille which both develop complementary approaches on bio-inspired AI from neuroscience to embedded systems design.

Why should psychologists be interested in robots? This talk aims to illustrate how social robots – machines with human-like features and behaviors – can offer interesting insights into the human mind. I will first provide a brief overview of how robots have been used in psychology and cognitive science research focusing on two approaches - Developmental Robotics and Human-Robot Interaction (HRI). We will then delve into recent works in HRI, including my own, in greater detail. We will also address the limitations of research thus far, such as the lack of proper controlled experiments, and discuss how the scientific community should evaluate the use of technology in educational and other social settings.

Humans are natural teachers; learning through instruction is one of the most fundamental ways that we learn. Interactive Task Learning (ITL) is an emerging research agenda that studies the design of complex intelligent robots that can acquire new knowledge through natural human teacher-robot learner interactions. ITL methods are particularly useful for designing intelligent robots whose behavior can be adapted by humans collaborating with them. In this talk, I will summarize our recent findings on the structure that human instruction naturally has and motivate an intelligent system design that can exploit their structure. The system – AILEEN – is being developed using the common model of cognition. Architectures that implement the Common Model of Cognition - Soar, ACT-R, and Sigma - have a prominent place in research on cognitive modeling as well as on designing complex intelligent agents. However, they miss a critical piece of intelligent behavior – analogical reasoning and generalization. I will introduce a new memory – concept memory – that integrates with a common model of cognition architecture and supports ITL.

Socially Assistive Robots (SARs) have shown great potential to help children in therapeutic and healthcare contexts. SARs have been used for companionship, learning enhancement, social and communication skills rehabilitation for children with special needs (e.g., autism), and mood improvement. Robots can be used as novel tools to assess and rehabilitate children’s communication skills and mental well-being by providing affordable and accessible therapeutic and mental health services. In this talk, I will present the various studies I have conducted during my PhD and at the Cambridge Affective Intelligence and Robotics Lab to explore how robots can help assess and rehabilitate children’s communication skills and mental well-being. More specifically, I will provide both quantitative and qualitative results and findings from (i) an exploratory study with children with autism and global developmental disorders to investigate the use of intelligent personal assistants in therapy; (ii) an empirical study involving children with and without language disorders interacting with a physical robot, a virtual agent, and a human counterpart to assess their linguistic skills; (iii) an 8-week longitudinal study involving children with autism and language disorders who interacted either with a physical or a virtual robot to rehabilitate their linguistic skills; and (iv) an empirical study to aid the assessment of mental well-being in children. These findings can inform and help the child-robot interaction community design and develop new adaptive robots to help assess and rehabilitate linguistic skills and mental well-being in children.

AI embedded in real systems, such as in satellites, robots and other autonomous devices, must make fast, safe decisions even when the environment changes, or under limitations on the available power; to do so, such systems must be adaptive in real time. To date, edge computing has no real adaptivity – rather the AI must be trained in advance, typically on a large dataset with much computational power needed; once fielded, the AI is frozen: It is unable to use its experience to operate if environment proves outside its training or to improve its expertise; and worse, since datasets cannot cover all possible real-world situations, systems with such frozen intelligent control are likely to fail. Lifelong Learning is the cutting edge of artificial intelligence - encompassing computational methods that allow systems to learn in runtime and incorporate learning for application in new, unanticipated situations. Until recently, this sort of computation has been found exclusively in nature; thus, Lifelong Learning looks to nature, and in particular neuroscience, for its underlying principles and mechanisms and then translates them to this new technology. Our presentation will introduce a number of state-of-the-art approaches to achieve AI adaptive learning, including from the DARPA’s L2M program and subsequent developments. Many environments are affected by temporal changes, such as the time of day, week, season, etc. A way to create adaptive systems which are both small and robust is by making them aware of time and able to comprehend temporal patterns in the environment. We will describe our current research in temporal AI, while also considering power constraints.

In recent years, there has been a proliferation of social robots and chatbots that are designed so that users make an emotional attachment with them. This talk will start by presenting the first such chatbot, a program called Eliza designed by Joseph Weizenbaum in the mid 1960s. Then we will look at some recent robots and chatbots with Eliza-like interfaces and examine their benefits as well as various ethical issues raised by deploying such systems.

Neural computations occurring simultaneously in multiple cerebral cortical regions are critical for mediating behaviors. Progress has been made in understanding how neural activity in specific cortical regions contributes to behavior. However, there is a lack of tools that allow simultaneous monitoring and perturbing neural activity from multiple cortical regions. We have engineered a suite of technologies to enable easy, robust access to much of the dorsal cortex of mice for optical and electrophysiological recordings. First, I will describe microsurgery robots that can programmed to perform delicate microsurgical procedures such as large bilateral craniotomies across the cortex and skull thinning in a semi-automated fashion. Next, I will describe digitally designed, morphologically realistic, transparent polymer skulls that allow long-term (+300 days) optical access. These polymer skulls allow mesoscopic imaging, as well as cellular and subcellular resolution two-photon imaging of neural structures up to 600 µm deep. We next engineered a widefield, miniaturized, head-mounted fluorescence microscope that is compatible with transparent polymer skull preparations. With a field of view of 8 × 10 mm2 and weighing less than 4 g, the ‘mini-mScope’ can image most of the mouse dorsal cortex with resolutions ranging from 39 to 56 µm. We used the mini-mScope to record mesoscale calcium activity across the dorsal cortex during sensory-evoked stimuli, open field behaviors, social interactions and transitions from wakefulness to sleep.

While classical industrial robots are mostly designed for repetitive tasks, assistive robots will be challenged by a variety of different tasks in close contact with humans. Hereby, learning through the direct interaction with humans provides a potentially powerful tool for an assistive robot to acquire new skills and to incorporate prior human knowledge during the exploration of novel tasks. Moreover, an intuitive interactive teaching process may allow non-programming experts to contribute to robotic skill learning and may help to increase acceptance of robotic systems in shared workspaces and everyday life. In this talk, I will discuss recent research I did on interactive robot skill learning and the remaining challenges on the route to human-centered teaching of assistive robots. In particular, I will also discuss potential connections and overlap with cognitive science. The presented work covers learning a library of probabilistic movement primitives from human demonstrations, intention aware adaptation of learned skills in shared workspaces, and multi-channel interactive reinforcement learning for sequential tasks.

It is common for animals to use self-generated movements to actively sense the surrounding environment. For instance, rodents rhythmically move their whiskers to explore the space close to their body. The mouse whisker system has become a standard model to study active sensing and sensorimotor integration through feedback loops. In this work, we developed a bioinspired spiking neural network model of the sensorimotor peripheral whisker system, modelling trigeminal ganglion, trigeminal nuclei, facial nuclei, and central pattern generator neuronal populations. This network was embedded in a virtual mouse robot, exploiting the Neurorobotics Platform, a simulation platform offering a virtual environment to develop and test robots driven by brain-inspired controllers. Eventually, the peripheral whisker system was properly connected to an adaptive cerebellar network controller. The whole system was able to drive active whisking with learning capability, matching neural correlates of behaviour experimentally recorded in mice.

Brain-computer interfaces (BCIs) have afforded paralysed users “mental control” of computer cursors and robots, and even of electrical stimulators that reanimate their own limbs. Most existing BCIs map the activity of hundreds of motor cortical neurons recorded with implanted electrodes into control signals to drive these devices. Despite these impressive advances, the field is facing a number of challenges that need to be overcome in order for BCIs to become widely used during daily living. In this talk, I will focus on two such challenges: 1) having BCIs that allow performing a broad range of actions; and 2) having BCIs whose performance is robust over long time periods. I will present recent studies from our group in which we apply neuroscientific findings to address both issues. This research is based on an emerging view about how the brain works. Our proposal is that brain function is not based on the independent modulation of the activity of single neurons, but rather on specific population-wide activity patters —which mathematically define a “neural manifold”. I will provide evidence in favour of such a neural manifold view of brain function, and illustrate how advances in systems neuroscience may be critical for the clinical success of BCIs.

Natural systems provide both puzzles to unravel and demonstrations of what's possible. The natural world is full of complex systems of dynamically interchangeable, individually unreliable components that produce effective and reliable outcomes at the group level. A complementary goal to understanding the operation of such systems is that of being able to engineer artifacts that work in a similar way. One notable type of collective behavior is collective construction, epitomized by mound-building termites, which build towering, intricate mounds through the joint activity of millions of independent and limited insects. The artificial counterpart would be swarms of robots designed to build human-relevant structures. I will discuss work on both aspects of the problem, including studies of cues that individual termite workers use to help direct their actions and coordinate colony activity, and development of robot systems that build user-specified structures despite limited information and unpredictable variability in the process. These examples illustrate principles used by the insects and show how they can be applied in systems we create.

As tiny robots become individually more sophisticated, and larger robots easier to mass produce, a breakdown of conventional disciplinary silos is enabling swarm engineering to be adopted across scales and applications, from nanomedicine to treat cancer, to cm-sized robots for large-scale environmental monitoring or intralogistics. This convergence of capabilities is facilitating the transfer of lessons learned from one scale to the other. Cm-sized robots that work in the 1000s may operate in a way similar to reaction-diffusion systems at the nanoscale, while sophisticated microrobots may have individual capabilities that allow them to achieve swarm behaviour reminiscent of larger robots with memory, computation, and communication. Although the physics of these systems are fundamentally different, much of their emergent swarm behaviours can be abstracted to their ability to move and react to their local environment. This presents an opportunity to build a unified framework for the engineering of swarms across scales that makes use of machine learning to automatically discover suitable agent designs and behaviours, digital twins to seamlessly move between the digital and physical world, and user studies to explore how to make swarms safe and trustworthy. Such a framework would push the envelope of swarm capabilities, towards making swarms for people.

A brain-machine interface (BMI) is a system that enables users to interact with computers and robots through the voluntary modulation of their brain activity. Such a BMI is particularly relevant as an aid for patients with severe neuromuscular disabilities, although it also opens up new possibilities in human-machine interaction for able-bodied people. Real-time signal processing and decoding of brain signals are certainly at the heart of a BMI. Yet, this does not suffice for subjects to operate a brain-controlled device. In the first part of my talk I will review some of our recent studies, most involving participants with severe motor disabilities, that illustrate additional principles of a reliable BMI that enable users to operate different devices. In particular, I will show how an exclusive focus on machine learning is not necessarily the solution as it may not promote subject learning. This highlights the need for a comprehensive mutual learning methodology that foster learning at the three critical levels of the machine, subject and application. To further illustrate that BMI is more than just decoding, I will discuss how to enhance subject learning and BMI performance through appropriate feedback modalities. Finally, I will show how these principles translate to motor rehabilitation, where in a controlled trial chronic stroke patients achieved a significant functional recovery after the intervention, which was retained 6-12 months after the end of therapy.

Recent success in training artificial agents and robots derives from a combination of direct learning of behavioral policies and indirect learning via value functions. Policy learning and value learning employ distinct algorithms that depend upon evaluation of errors in performance and reward prediction errors, respectively. In mammals, behavioral learning and the role of mesolimbic dopamine signaling have been extensively evaluated with respect to reward prediction errors; but there has been little consideration of how direct policy learning might inform our understanding. I’ll discuss our recent work on classical conditioning in naïve mice (https://www.biorxiv.org/content/10.1101/2021.05.31.446464v1) that provides multiple lines of evidence that phasic dopamine signaling regulates policy learning from performance errors in addition to its well-known roles in value learning. This work points towards new opportunities for unraveling the mechanisms of basal ganglia control over behavior under both adaptive and maladaptive learning conditions.

Neural computations occurring simultaneously in multiple cerebral cortical regions are critical for mediating behaviors. Progress has been made in understanding how neural activity in specific cortical regions contributes to behavior. However, there is a lack of tools that allow simultaneous monitoring and perturbing neural activity from multiple cortical regions. We have engineered a suite of technologies to enable easy, robust access to much of the dorsal cortex of mice for optical and electrophysiological recordings. First, I will describe microsurgery robots that can programmed to perform delicate microsurgical procedures such as large bilateral craniotomies across the cortex and skull thinning in a semi-automated fashion. Next, I will describe digitally designed, morphologically realistic, transparent polymer skulls that allow long-term (>300 days) optical access. These polymer skulls allow mesoscopic imaging, as well as cellular and subcellular resolution two-photon imaging of neural structures up to 600 µm deep. We next engineered a widefield, miniaturized, head-mounted fluorescence microscope that is compatible with transparent polymer skull preparations. With a field of view of 8 × 10 mm2 and weighing less than 4 g, the ‘mini-mScope’ can image most of the mouse dorsal cortex with resolutions ranging from 39 to 56 µm. We used the mini-mScope to record mesoscale calcium activity across the dorsal cortex during sensory-evoked stimuli, open field behaviors, social interactions and transitions from wakefulness to sleep.

From robots to humans, the ability to learn from experience turns a rigid response system into a flexible, adaptive one. In this talk, I will discuss emerging findings regarding the neural and cognitive mechanisms by which learning shapes decisions. The lecture will focus on how multiple brain regions interact to support learning, what this means for how memories are built, and the consequences for how decisions are made. Results emerging from this work challenge the traditional view of separate learning systems and advance understanding of how memory biases decisions in both adaptive and maladaptive ways.

Multistable structures can reversibly change between multiple stable configurations when a sufficient energetic input is provided. While originally the field focused on understanding what governs the snapping, more recently it has been shown that these systems also provide a powerful platform to design a wide range of smart structures. In this talk, I will first show that pressure-deployable origami structures characterized by two stable configurations provide opportunities for a new generation of large-scale inflatable structures that lock in place after deployment and provide a robust enclosure through their rigid faces. Then, I will demonstrate that the propagation of transition waves in a bistable one-dimensional linkage can be exploited as a robust mechanism to realize structures that can be quickly deployed. Finally, while in the first two examples multistability is harnessed to realize deployable architectures, I will demonstrate that bistable building blocks can also be exploited to design crawling and jumping robots. Unlike previously proposed robots that require complex input control of multiple actuators, a simple, slow input signal suffices to make our system move, as all features required for locomotion are embedded into the architecture of the building blocks.

From slithering snakes, to entangling robots, self-deforming (shape changing) active systems display surprising dynamics. This is particularly true when such systems interact with environments or other agents to generate self-propulsion (movement). In this talk, I will discuss a few projects from my group illustrating unexpected effects in individual and collectives of self-deformers. For example, snakes and snake-like robots mechanically “diffract” from fixed environmental heterogeneities, collections of smart-active robots (smarticles) can locomote (and phototax) as a collective despite individual immobility, and geometrically actively entangling ensembles of blackworms and robots can self-propel as a unit to thermo or phototax without centralized control.

Brain-computer interfaces (BCIs) have afforded paralysed users “mental control” of computer cursors and robots, and even of electrical stimulators that reanimate their own limbs. Most existing BCIs map the activity of hundreds of motor cortical neurons recorded with implanted electrodes into control signals to drive these devices. Despite these impressive advances, the field is facing a number of challenges that need to be overcome in order for BCIs to become widely used during daily living. In this talk, I will focus on two such challenges: 1) having BCIs that allow performing a broad range of actions; and 2) having BCIs whose performance is robust over long time periods. I will present recent studies from our group in which we apply neuroscientific findings to address both issues. This research is based on an emerging view about how the brain works. Our proposal is that brain function is not based on the independent modulation of the activity of single neurons, but rather on specific population-wide activity patters —which mathematically define a “neural manifold”. I will provide evidence in favour of such a neural manifold view of brain function, and illustrate how advances in systems neuroscience may be critical for the clinical success of BCIs.