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Robotic self/other distinction for interaction under uncertainty

Total Cost €


EC-Contrib. €






 SELFCEPTION project word cloud

Explore the words cloud of the SELFCEPTION project. It provides you a very rough idea of what is the project "SELFCEPTION" about.

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Project "SELFCEPTION" data sheet

The following table provides information about the project.


Organization address
address: Arcisstrasse 21
postcode: 80333

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Germany [DE]
 Project website
 Total cost 159˙460 €
 EC max contribution 159˙460 € (100%)
 Programme 1. H2020-EU.1.3.2. (Nurturing excellence by means of cross-border and cross-sector mobility)
 Code Call H2020-MSCA-IF-2016
 Funding Scheme MSCA-IF-EF-ST
 Starting year 2017
 Duration (year-month-day) from 2017-05-01   to  2019-04-30


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 


 Project objective

There will be around 35 million private or non-industrial use robots in the world by 2018, a market of 19 billion euros. However, autonomous robot technology in Europe is not yet ready to lead this high expectancy due to the lack of robust functionality in uncertain environments. Particularly, safe interaction is an essential requirement. A basic skill, still unachieved, is to allow the robot to be aware of its own body and perceive other agents. Recent evidence suggests that self/other distinction will be a major breakthrough for improving interaction and might be the connection between low-level sensorimotor abilities and conceptual interpretation.

Advanced sensorimotor learning combined with new multimodal sensing devices, such as artificial skin, makes now possible that the robot acquires its perceptual representation, and I hypothesize that learning the multisensory-motor spatiotemporal contingencies permits self/other distinction. Hence, the aim of the project is to provide a hierarchical probabilistic model for self/other distinction in robots, learning the sensorimotor contingencies during interaction. This model not only provides a holistic solution for building the perceptual schema and improves interaction under uncertainty but it might also give insights about how humans construct their own perceptual representation and the sense of agency. Finally, the model will be tested in a whole body sensing humanoid and validated in a service robot in collaboration with a robotics SME. I will use an interdisciplinary approach that combines probabilistic and information sciences modelling with cognitive psychology, creating a highly attractive career profile.

SELFCEPTION will boost the materialization of the next generation of perceptive robots: multisensory machines able to build their perceptual body schema and distinguish their actions from other entities. We already have robots that navigate and now it is the time to develop robots that interact.


year authors and title journal last update
List of publications.
2019 Michael Deistler, Yagmur Yener, Florian Bergner, Pablo Lanillos, Gordon Cheng
Tactile Hallucinations on Artificial Skin Induced by Homeostasis in a Deep Boltzmann Machine
published pages: , ISSN: , DOI:
2019 IEEE International Conference on Cyborg and Bionic Systems 2019-09-30
2019 Guillermo Oliver, Pablo Lanillos, Gordon Cheng
Active inference body perception and action for humanoid robots
published pages: , ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters 2/4 2019-09-30
2018 Hinz, Nina-Alisa; Lanillos, Pablo; Mueller, Hermann; Cheng, Gordon
Drifting perceptual patterns suggest prediction errors fusion rather than hypothesis selection: replicating the rubber-hand illusion on a robot
published pages: , ISSN: 2161-9484, DOI:
IEEE Developmental Learning and Epigenetic Robotics (ICDL-Epirob) 2019-09-30
2018 Diez-Valencia, German; Ohashi, Takuya; Lanillos, Pablo; Cheng, Gordon
Sensorimotor learning for artificial body perception
published pages: , ISSN: , DOI:
Workshop on Crossmodal Learning for Intelligent Robotics. IEEE Int. Conference on Intelligent Robots and Systems (IROS 2018) 2019-09-30
2018 Pablo Lanillos and Gordon Cheng
Active inference with function learning for robot body perception
published pages: , ISSN: , DOI:
International Workshop on Continual Unsupervised Sensorimotor Learning, IEEE Developmental Learning and Epigenetic Robotics (ICDL-Epirob) 2019-09-30
2017 Mohsen Kaboli, Di Feng, Kunpeng Yao, Pablo Lanillos, Gordon Cheng
A Tactile-Based Framework for Active Object Learning and Discrimination using Multimodal Robotic Skin
published pages: 2143-2150, ISSN: 2377-3766, DOI: 10.1109/lra.2017.2720853
IEEE Robotics and Automation Letters 2/4 2019-09-30
2019 Lanillos, P., Oliva, D, Philippsen, A., Nagai, Y., Cheng, G
A Review on Neural Network Models of Schizophrenia and Autism Spectrum Disorder
published pages: , ISSN: 0893-6080, DOI:
Neural Networks 2019-09-30

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The information about "SELFCEPTION" are provided by the European Opendata Portal: CORDIS opendata.

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