Philippe Gaussier

Philippe Gaussier
Université de Cergy-Pontoise · ETIS Research Center

PhD, Pr

About

271
Publications
29,798
Reads
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3,297
Citations
Introduction
I use robots as tools to study in "real life" conditions the coherence and the dynamics of different cognitive models (developmental perspective). New models are proposed and lead to new neurobiological or psychological experiments. My works are focused on the modelization of the cognitive mechanisms involved in sensory-motor behaviors and the study of the dynamical interactions between individuals (imitation games, low level synchronization, collective intelligence,...).
Additional affiliations
August 2015 - July 2016
University of California, Irvine
Position
  • Researcher
September 1998 - present
Université de Cergy-Pontoise
Position
  • Professor (Full)
September 1998 - present
Université de Cergy-Pontoise
Position
  • Professor (Full)
Education
December 1997 - December 1997
Université de Cergy-Pontoise
Field of study
  • computer sciences
September 1990 - December 1992
Université Paris-Sud 11
Field of study
  • electronique
September 1989 - September 1990
Université Paris-Sud 11
Field of study
  • electronics and computer sciences

Publications

Publications (271)
Chapter
In the proposed model, we suppose the retrosplenial cortex (RSC) conveys path integration (PI) information to the hippocampal system. Our model shows the potential of the PI field in reproducing diverse neuronal activities involved in the spatial representation of animals. We explain the absence of places cells in the RSC because of the difficulty...
Article
Full-text available
Autonomous vehicles require precise and reliable self-localization to cope with dynamic environments. The field of visual place recognition (VPR) aims to solve this challenge by relying on the visual modality to recognize a place despite changes in the appearance of the perceived visual scene. In this paper, we propose to tackle the VPR problem fol...
Article
Experiences of animal and human beings are structured by the continuity of space and time coupled with the unidirectionality of time. In addition to its pivotal position in spatial processing and navigation, the hippocampal system also plays a central, multiform role in several types of temporal processing. These include timing and sequence learnin...
Chapter
Computational Intelligence and Artificial Intelligence are both aiming at building machines and softwares capable of intelligent behavior. They are consequently prone to interactions, even if the latter is not necessarily interested in understanding how cognition emerges from the brain substrate. In this chapter, we enumerate, describe and discuss...
Article
Full-text available
Inspired by recent biological experiments, we simulate animals moving in different environments (open space, spiral mazes and on a treadmill) to test the performances of a simple model of the retrosplenial cortex (RSC) acting as a path integration (PI) and as a categorization mechanism. The connection between the hippocampus, RSC and the entorhinal...
Poster
Full-text available
The cumulative learning experience in special environments such as museums increases the diversity of choices for members of a population in a new environment. These learnings lead robots to develop individual preferences. This hypothesis emanates from numerous studies in developmental psychology according to which humans develop their preferences...
Article
Starting from biological systems, we review the interest of active perception for object recognition in an autonomous system. Foveated vision and control of the eye saccade introduce strong benefits related to the differentiation of a "what" pathway recognizing some local parts in the image and a "where" pathway related to moving the fovea in that...
Article
In recent anthropological debates, it is accepted—sometimes rather hastily—that ‘naturalism’ represents the prevalent ontology within Western modernity. The ethnography of the contemporary world does not necessarily require us to contest this statement in a fundamental way; but it does compel us to put into perspective the scope of such a claim. Th...
Article
Full-text available
Representing objects in space is difficult because sensorimotor events are anchored in different reference frames, which can be either eye-, arm-, or target-centered. In the brain, Gain-Field (GF) neurons in the parietal cortex are involved in computing the necessary spatial transformations for aligning the tactile, visual and proprioceptive signal...
Article
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Place recognition is a complex process involving idiothetic and allothetic information. In mammals, evidence suggests that visual information stemming from the temporal and parietal cortical areas ('what' and 'where' information) is merged at the level of the entorhinal cortex (EC) to build a compact code of a place. Local views extracted from spec...
Article
Full-text available
Emotion is an integral part of cognition. There is significant evidence of mutual, bi-directional influence between cognitive and emotional processes. Also, more and more research works propose an integrative view of emotion and cognition. In this paper, we review a large literature on emotion-cognition interactions in psychology, neuroscience, and...
Article
Full-text available
In this work, we study how learning in a special environment such as a museum can influence the behavior of robots. More specifically, we show that online learning based on interaction with people at a museum leads the robots to develop individual preferences. We first developed a humanoid robot (Berenson) that has the ability to head toward its pr...
Conference Paper
Full-text available
Perceiving our own body posture improves the way we move dynamically and reversely, motion coordination serves to learn better the position of our own body. Following this idea, we present a neural architecture toward reaching movements and body self-perception from a developmental perspective. Our framework is based on the neurobiological mechanis...
Article
In this paper we propose a neural network allowing a mobile robot to learn artwork appreciation. The learning is based on the social referencing approach. The robot acquires its knowledge (artificial taste) from the interaction with humans. We present and analyze specifically the visual system, its impact on the robot behavior, and at the end, we a...
Article
Full-text available
Emotions play a significant role in internal regulatory processes. In this paper, we advocate four key ideas. First, novelty detection can be grounded in the sensorimotor experience and allow higher order appraisal. Second, cognitive processes, such as those involved in self-assessment, influence emotional states by eliciting affects like boredom a...
Data
Implementation details. Additional information regarding the implementation of the visual system and the working memory is given. Also, all the parameter values are provided. (PDF)
Conference Paper
Full-text available
Human working memory is capable to generate dynamically robust and flexible neuronal sequences for action planning, problem solving and decision making. However, current neurocomputational models of working memory find hard to achieve these capabilities since intrinsic noise is difficult to stabilize over time and destroys global synchrony. As part...
Article
Full-text available
The intra-parietal lobe coupled with the Basal Ganglia forms a working memory that demonstrates strong planning capabilities for generating robust yet flexible neuronal sequences. Neurocomputational models however, often fails to control long range neural synchrony in recurrent spiking networks due to spontaneous activity. As a novel framework base...
Article
Full-text available
Perceptual illusions across multiple modalities, such as the rubber-hand illusion, show how dynamic the brain is at adapting its body image and at determining what is part of it (the self) and what is not (others). Several research studies showed that redundancy and contingency among sensory signals are essential for perception of the illusion and...
Article
Full-text available
This paper proposes a computational model for learning robot control and sequence planning based on the ideomotor principle. This model encodes covariation laws between sensors and motors in a modular fashion and exploits these primitive skills to build complex action sequences, potentially involving tool-use. Implemented for a robotic arm, the mod...
Conference Paper
Full-text available
Touch perception is an important sense to model in humanoid robots to interact physically and socially with humans. We present a neural controller that can adapt the compliance of the robot arm in four directions using as input the tactile information from an artificial skin and as output the estimated torque for admittance control-loop reference....
Conference Paper
Full-text available
The distinction between cognitive goal-oriented and SR habitual behavior has long been classical in Neuroscience. Nevertheless, the mechanisms of the two types of behaviors as well as their interactions are poorly understood, in spite of significant advances in the knowledge of their supporting structures, the cortico-striatal loops. A neural netwo...
Conference Paper
The learning of sensorimotor primitives in an open-ended manner is important to achieve all the possible tasks a robot can do, even those never experienced before. In this short paper, we propose a neural architecture called Dynamic Sensorimotor Model (DSM) (1) that learn co-variation rules between sensors and motors for sensorimotor prediction, (2...
Conference Paper
Synchronisation and coordination are omnipresent and essential in humans interactions. Because of their unavoidable and unintentional aspect, those phenomena could be the consequences of a low level mechanism: a driving force originating from external stimuli called the entrainment effect. In the light of its importance in interaction and wishing t...
Conference Paper
Previously, we proposed a model that allows a robot to select an interacting partner and locates its focus of attention on the basis of synchrony between its own internal dynamics and the perceived visual stimuli. Here, we extend our approach for human-robot interactions in a "synchronous walking" scenario. Our inspirations comes from the notion of...
Conference Paper
Future robots are supposed to become our partners and share the environments where we live in our daily life. Considering the fact that they will have to co-exist with "nonexpert" people (elders, impaired people, children, etc.), we must rethink the way we design human/robot interactions. In this paper, we take a radical simplification route taking...
Article
Full-text available
In the framework of the HYDROïD humanoid robot project, this paper describes the modeling and design of an electrically actuated head mechanism. Perception and emotion capabilities are considered in the design process. Since HYDROïD humanoid robot is hydraulically actuated, the choice of electrical actuation for the head mechanism addressed in this...
Article
Full-text available
Prior to language, human infants are prolific imitators. Developmental science grounds infant imitation in the neural coding of actions, and highlights the use of imitation for learning from and about people. Here, we used computational modeling and a robot implementation to explore the functional value of action imitation. We report 3 experiments...
Chapter
The question whether newborns possess inborn social skills is a long debate in developmental psychology. Fetal behavioral and anatomical observations show evidences for the control of eye movements and facial behaviors during the third trimester of pregnancy whereas specific sub-cortical areas, like the superior colliculus (SC) and the striatum app...
Chapter
Full-text available
Unravelling the neural substrates of behavior has made possible to dissociate a high level representation system dedicated to the build-up and storage of a world model, and an implementation system for decision, strategic choices, and sequential behavior. In most ecological situations, particularly in the animal kingdom, a tight functional associat...
Article
Full-text available
The sense of touch is considered as an essential feature for robots in order to improve the quality of their physical and social interactions. For instance, tactile devices have to be fast enough to interact in real time, robust against noise to process rough sensory information as well as adaptive to represent the structure and topography of a tac...
Conference Paper
Full-text available
We explore different strategies to overcome the problem of sensorimotor transformation that babies face during development, especially in the case of tool-use. From a developmental perspective, we investigate a model based on absolute coordinate frames of reference, and another one based on relative coordinate frames of reference. In a situation of...
Article
Full-text available
Peripersonal space refers to the area around the body that is perceived as secure and reachable. The ability to build such a representation is necessary in both approach and avoidance behaviors. Several studies show that the perception of reach- able and comfort areas depends on emotions. In this paper, we describe how we model an appetitive and an...
Conference Paper
Full-text available
This paper tries to analyze the positive effect of the emergent structures in the objects’ aggregation task which is performed by a cognitive multi-agent system (CMAS). Indeed, these structures allow improving overall performance of the system by the optimization of the planning time and satisfaction level of the cognitive agents. A series of simul...
Article
Full-text available
In the present study, a new architecture for the generation of grid cells (GC) was implemented on a real robot. In order to test this model a simple place cell (PC) model merging visual PC activity and GC was developed. GC were first built from a simple “several to one” projection (similar to a modulo operation) performed on a neural field coding f...
Article
Full-text available
Imitation and learning from humans require an adequate sensorimotor controller to learn and encode behaviors. We present the Dynamic Muscle Perception-Action(DM-PerAc) model to control a multiple degrees-of-freedom (DOF) robot arm. In the original PerAc model, path-following or place-reaching behaviors correspond to the sensorimotor attractors resu...
Article
Full-text available
In this paper, we show that a robotic system can learn online to recognize facial expressions without having a teaching signal associating a facial expression with a given abstract label (e.g., 'sadness', 'happiness'). Moreover, we show that recognizing a face from a non-face can be accomplished autonomously if we imagine that learning to recognize...
Article
Full-text available
Previously, we proposed a model that allows a robot to select an interacting partner and locate its focus of attention on the basis of synchrony between its own internal dynamics and the perceived visual stimuli. Here, we extend our approach for human-robot interactions in a "synchronous walking" scenario. Our inspirations come from the notion of u...
Conference Paper
Full-text available
For low level behaviors, navigational trajectories can be encoded as attraction basin resulting from associations between visual based localization and directions to follow. The use of other sensory information such as contexts for modifying the behavior needs a specialized learning. In this paper, we propose a minimal model using multimodal contex...
Article
Abstract The so-called self-other correspondence problem in imitation demands to find the transformation that maps the motor dynamics of one partner to our owns. This requires a general purpose sensorimotor mechanism that transforms an external fixation-point (partner’s shoulder) reference frame to one’s own body-centred reference frame. We propose...
Conference Paper
Full-text available
In this paper, we study a robust multi modal compass for a vision based navigation system. The model mimics several aspects of the head direction cells found in the postsubiculum of the rat. Idiothetic information is recalibrated according to the learning of visual stimuli as-sociated to robust landmarks. The model is based on dynamic neural fields...
Conference Paper
Full-text available
This paper aims to shed light on the benefits of the cognitive processes in the generation of emergent structures that allow the cognitive robots to succeed the objects’ aggregation task. In the multi-robot system, every robot uses local rules and an on-line building and learning of its own cognitive map. This fusion alters the positive impact of t...
Conference Paper
Full-text available
In this paper, we propose a bio-inspired and developmental neural model that allows a robot, after learning its own dynamics during a babbling phase, to gain imitative and shape recognition abilities leading to early attempts for physical and social interactions. We use a motor controller based on oscillators. During the babbling step, the robot le...
Article
It is argued that is not enough to define the meaning of “naturalism” from an anthropological perspective by taking only in consideration the ontological contrasts between different cultures and societies. Rather, one should acknowledge the fact that such categories are not only problematic but also currently debated in our own society. We intend t...