arXiv subjects

Hiroki Mori

Publications and source records attributed to Hiroki Mori.

At least 19 recordsLinked to original sources

arXiv2026

Mus siliconus: A Neuro-Musculoskeletal Digital Twin of the Mouse Integrating Neural Dynamics, Biomechanics, and Tactile Sensing

Digital twin technologies could transform neuroscience and biomedicine by creating predictive computational representations of living organisms. However, most animal digital twins model neural circuits, anatomy, or biomechanics separately rather than integrating the processes that generate behavior. We argue that animal digital twins should instead be conceived as embodied dynamical systems that unify neural activity, body mechanics, sensory feedback, and environmental interactions. We propose a neuro-musculoskeletal digital twin of the mouse that combines multimodal anatomical reconstruction from X-ray CT, high-resolution white-light sections, and Scx-GFP imaging with biomechanical simulation, Bonhoeffer--van der Pol neural dynamics, and tactile feedback. This framework forms a closed sensorimotor loop in which behavior emerges through continuous interactions among the nervous system, musculoskeletal system, and environment. The Bonhoeffer--van der Pol model provides a computationally tractable dynamical foundation for large-scale simulation of these interactions. Neuro-musculoskeletal digital twins could provide a convergence point for computational neuroscience, biomechanics, artificial intelligence, and robotics. When coupled with adaptive learning and autonomous experimentation, they may develop from passive simulations into active scientific instruments that generate hypotheses, predict interventions, and guide experiments. Such embodied digital twins could advance the study of biological intelligence and support new adaptive biomedical and robotic systems.

q-bio.NC↗

arXiv2026

Transfer Entropy and Flow of Information in Two-Skyrmion System

We theoretically investigate the flow of information in an interacting two-skyrmion system confined in a box at finite temperature. By numerical simulations based on the Thiele-Langevin equation, we demonstrate that the skyrmion motion cannot be fully described by the master equation, highlighting the nontrivial dynamics. Particularly, due to the chiral motion of skyrmion, we find asymmetric flow of information with violating the detailed balance condition. We analyze this system using information-theoretical quantities including Shannon entropy, mutual information, and transfer entropy. The physical significance of transfer entropy, which has been overlooked in previous studies, is elucidated. Notably, the peak position of the transfer entropy, as a function of time delay, is independent of the interaction range yet dependent on the box size. This peak corresponds to the characteristic time required for changing the skyrmion state. Due to the unusual asymmetric circulation of information, the two-skyrmion system can be a unique device for future applications to the natural computing.

cond-mat.mes-hall↗

arXiv2025

A3RNN: Bi-directional Fusion of Bottom-up and Top-down Process for Developmental Visual Attention in Robots

This study investigates the developmental interaction between top-down (TD) and bottom-up (BU) visual attention in robotic learning. Our goal is to understand how structured, human-like attentional behavior emerges through the mutual adaptation of TD and BU mechanisms over time. To this end, we propose a novel attention model $A^3 RNN$ that integrates predictive TD signals and saliency-based BU cues through a bi-directional attention architecture. We evaluate our model in robotic manipulation tasks using imitation learning. Experimental results show that attention behaviors evolve throughout training, from saliency-driven exploration to prediction-driven direction. Initially, BU attention highlights visually salient regions, which guide TD processes, while as learning progresses, TD attention stabilizes and begins to reshape what is perceived as salient. This trajectory reflects principles from cognitive science and the free-energy framework, suggesting the importance of self-organizing attention through interaction between perception and internal prediction. Although not explicitly optimized for stability, our model exhibits more coherent and interpretable attention patterns than baselines, supporting the idea that developmental mechanisms contribute to robust attention formation.

cs.RO↗

arXiv2025

Information dynamics, natural computing and Maxwell's demon in two skyrmions system

The probabilistic information flow and natural computational capability of a system with two magnetic skyrmions at room temperature have been experimentally evaluated. Based on this evaluation, an all-solid-state built-in Maxwell's demon operating at room temperature is also proposed. Probabilistic behavior has gained attention for its potential to enable unconventional computing paradigms. However, information propagation and computation in such systems are more complex than in conventional computers, making their visualization essential. In this study, a two-skyrmion system confined within a square potential well at thermal equilibrium was analyzed using information thermodynamics. Transfer entropy and the time derivative of mutual information were employed to investigate the information propagation speed, the absence of a Maxwell's demon in thermal equilibrium, and the system's non-Markovian properties. Furthermore, it was demonstrated that the system exhibits a small but finite computational capability for the nonlinear XOR operation, potentially linked to hidden information in the non-Markovian system. Based on these experiments and analyses, an all-solid-state built-in Maxwell's demon utilizing the two-skyrmion system and operating at room temperature is proposed.

cond-mat.mes-hall↗

arXiv2025

Who Speaks Next? Multi-party AI Discussion Leveraging the Systematics of Turn-taking in Murder Mystery Games

Multi-agent systems utilizing large language models (LLMs) have shown great promise in achieving natural dialogue. However, smooth dialogue control and autonomous decision making among agents still remain challenges. In this study, we focus on conversational norms such as adjacency pairs and turn-taking found in conversation analysis and propose a new framework called "Murder Mystery Agents" that applies these norms to AI agents' dialogue control. As an evaluation target, we employed the "Murder Mystery" game, a reasoning-type table-top role-playing game that requires complex social reasoning and information manipulation. In this game, players need to unravel the truth of the case based on fragmentary information through cooperation and bargaining. The proposed framework integrates next speaker selection based on adjacency pairs and a self-selection mechanism that takes agents' internal states into account to achieve more natural and strategic dialogue. To verify the effectiveness of this new approach, we analyzed utterances that led to dialogue breakdowns and conducted automatic evaluation using LLMs, as well as human evaluation using evaluation criteria developed for the Murder Mystery game. Experimental results showed that the implementation of the next speaker selection mechanism significantly reduced dialogue breakdowns and improved the ability of agents to share information and perform logical reasoning. The results of this study demonstrate that the systematics of turn-taking in human conversation are also effective in controlling dialogue among AI agents, and provide design guidelines for more advanced multi-agent dialogue systems.

cs.CL↗

arXiv2024

A Peg-in-hole Task Strategy for Holes in Concrete

A method that enables an industrial robot to accomplish the peg-in-hole task for holes in concrete is proposed. The proposed method involves slightly detaching the peg from the wall, when moving between search positions, to avoid the negative influence of the concrete's high friction coefficient. It uses a deep neural network (DNN), trained via reinforcement learning, to effectively find holes with variable shape and surface finish (due to the brittle nature of concrete) without analytical modeling or control parameter tuning. The method uses displacement of the peg toward the wall surface, in addition to force and torque, as one of the inputs of the DNN. Since the displacement increases as the peg gets closer to the hole (due to the chamfered shape of holes in concrete), it is a useful parameter for inputting in the DNN. The proposed method was evaluated by training the DNN on a hole 500 times and attempting to find 12 unknown holes. The results of the evaluation show the DNN enabled a robot to find the unknown holes with average success rate of 96.1% and average execution time of 12.5 seconds. Additional evaluations with random initial positions and a different type of peg demonstrate the trained DNN can generalize well to different conditions. Analyses of the influence of the peg displacement input showed the success rate of the DNN is increased by utilizing this parameter. These results validate the proposed method in terms of its effectiveness and applicability to the construction industry.

cs.RO↗

arXiv2024

Visual Spatial Attention and Proprioceptive Data-Driven Reinforcement Learning for Robust Peg-in-Hole Task Under Variable Conditions

Anchor-bolt insertion is a peg-in-hole task performed in the construction field for holes in concrete. Efforts have been made to automate this task, but the variable lighting and hole surface conditions, as well as the requirements for short setup and task execution time make the automation challenging. In this study, we introduce a vision and proprioceptive data-driven robot control model for this task that is robust to challenging lighting and hole surface conditions. This model consists of a spatial attention point network (SAP) and a deep reinforcement learning (DRL) policy that are trained jointly end-to-end to control the robot. The model is trained in an offline manner, with a sample-efficient framework designed to reduce training time and minimize the reality gap when transferring the model to the physical world. Through evaluations with an industrial robot performing the task in 12 unknown holes, starting from 16 different initial positions, and under three different lighting conditions (two with misleading shadows), we demonstrate that SAP can generate relevant attention points of the image even in challenging lighting conditions. We also show that the proposed model enables task execution with higher success rate and shorter task completion time than various baselines. Due to the proposed model's high effectiveness even in severe lighting, initial positions, and hole conditions, and the offline training framework's high sample-efficiency and short training time, this approach can be easily applied to construction.

cs.RO↗

arXiv2023

Real-time Motion Generation and Data Augmentation for Grasping Moving Objects with Dynamic Speed and Position Changes

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving objects, due to their dynamic properties, requires learning a wide range of factors such as the object's position, movement speed, and grasping timing. We propose a data augmentation method for enabling a robot to grasp moving objects with different speeds and grasping timings at low cost. Specifically, the robot is taught to grasp an object moving at low speed using teleoperation, and multiple data with different speeds and grasping timings are generated by down-sampling and padding the robot sensor data in the time-series direction. By learning multiple sensor data in a time series, the robot can generate motions while adjusting the grasping timing for unlearned movement speeds and sudden speed changes. We have shown using a real robot that this data augmentation method facilitates learning the relationship between object position and velocity and enables the robot to perform robust grasping motions for unlearned positions and objects with dynamically changing positions and velocities.

cs.RO↗

arXiv2023

A generative framework for conversational laughter: Its 'language model' and laughter sound synthesis

As the phonetic and acoustic manifestations of laughter in conversation are highly diverse, laughter synthesis should be capable of accommodating such diversity while maintaining high controllability. This paper proposes a generative model of laughter in conversation that can produce a wide variety of laughter by utilizing the emotion dimension as a conversational context. The model comprises two parts: the laughter "phones generator," which generates various, but realistic, combinations of laughter components for a given speaker ID and emotional state, and the laughter "sound synthesizer," which receives the laughter phone sequence and produces acoustic features that reflect the speaker's individuality and emotional state. The results of a listening experiment indicated that conditioning both the phones generator and the sound synthesizer on emotion dimensions resulted in the most effective control of the perceived emotion in synthesized laughter.

eess.AS↗

arXiv2023

Learning-based Collision-free Planning on Arbitrary Optimization Criteria in the Latent Space through cGANs

We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and a latent space that captures only collision-free areas of the joint space, conditioned by an obstacle map. Generating multiple plausible trajectories is convenient in applications such as the manipulation of a robot arm by enabling the selection of trajectories that avoids collision with the robot or surrounding environment. In the proposed method, various trajectories that avoid obstacles can be generated by connecting the start and goal state with arbitrary line segments in this generated latent space. Our method provides this collision-free latent space, after which any planner, using any optimization conditions, can be used to generate the most suitable paths on the fly. We successfully verified this method with a simulated and actual UR5e 6-DoF robotic arm. We confirmed that different trajectories could be generated depending on optimization conditions.

cs.RO↗

arXiv2022

Guided Visual Attention Model Based on Interactions Between Top-down and Bottom-up Information for Robot Pose Prediction

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the dataset collection cost cannot be ignored. Existing visual attention models tackled the problem by employing a data efficient structure which learns to extract task relevant image areas. However, since the models cannot modify attention targets after training, it is difficult to apply to dynamically changing tasks. This paper proposed a novel Key-Query-Value formulated visual attention model. This model is capable of switching attention targets by externally modifying the Query representations, namely top-down attention. The proposed model is experimented on a simulator and a real-world environment. The model was compared to existing end-to-end robot vision models in the simulator experiments, showing higher performance and data efficiency. In the real-world robot experiments, the model showed high precision along with its scalability and extendibility.

cs.RO↗

arXiv2022

Deep Active Visual Attention for Real-time Robot Motion Generation: Emergence of Tool-body Assimilation and Adaptive Tool-use

Sufficiently perceiving the environment is a critical factor in robot motion generation. Although the introduction of deep visual processing models have contributed in extending this ability, existing methods lack in the ability to actively modify what to perceive; humans perform internally during visual cognitive processes. This paper addresses the issue by proposing a novel robot motion generation model, inspired by a human cognitive structure. The model incorporates a state-driven active top-down visual attention module, which acquires attentions that can actively change targets based on task states. We term such attentions as role-based attentions, since the acquired attention directed to targets that shared a coherent role throughout the motion. The model was trained on a robot tool-use task, in which the role-based attentions perceived the robot grippers and tool as identical end-effectors, during object picking and object dragging motions respectively. This is analogous to a biological phenomenon called tool-body assimilation, in which one regards a handled tool as an extension of one's body. The results suggested an improvement of flexibility in model's visual perception, which sustained stable attention and motion even if it was provided with untrained tools or exposed to experimenter's distractions.

cs.RO↗

arXiv2022

Contact-Rich Manipulation of a Flexible Object based on Deep Predictive Learning using Vision and Tactility

We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and amount of deformation behind it, making it difficult to obtain information to perform the task by vision alone. Additionally, the flexible fabric bag state constantly changes during operation, so the robot needs to dynamically respond to the change. However, the appropriate robot behavior for all bag states is difficult to prepare in advance. To solve this problem, we developed a model that can perform contact-rich flexible object manipulation by real-time prediction of vision with tactility. We introduced a point-based attention mechanism for extracting image features, softmax transformation for predicting motions, and convolutional neural network for extracting tactile features. The results of experiments using a real robot arm revealed that our method can realize motions responding to the deformation of the bag while reducing the load on the zipper. Furthermore, using tactility improved the success rate from 56.7% to 93.3% compared with vision alone, demonstrating the effectiveness and high performance of our method.

cs.RO↗

arXiv2022

How does a spontaneously speaking conversational agent affect user behavior?

This study investigated the effect of synthetic voice of conversational agent trained with spontaneous speech on human interactants. Specifically, we hypothesized that humans will exhibit more social responses when interacting with conversational agent that has a synthetic voice built on spontaneous speech. Typically, speech synthesizers are built on a speech corpus where voice professionals read a set of written sentences. The synthesized speech is clear as if a newscaster were reading a news or a voice actor were playing an anime character. However, this is quite different from spontaneous speech we speak in everyday conversation. Recent advances in speech synthesis enabled us to build a speech synthesizer on a spontaneous speech corpus, and to obtain a near conversational synthesized speech with reasonable quality. By making use of these technology, we examined whether humans produce more social responses to a spontaneously speaking conversational agent. We conducted a large-scale conversation experiment with a conversational agent whose utterances were synthesized with the model trained either with spontaneous speech or read speech. The result showed that the subjects who interacted with the agent whose utterances were synthesized from spontaneous speech tended to show shorter response time and a larger number of backchannels. The result of a questionnaire showed that subjects who interacted with the agent whose utterances were synthesized from spontaneous speech tended to rate their conversation with the agent as closer to a human conversation. These results suggest that speech synthesis built on spontaneous speech is essential to realize a conversational agent as a social actor.

cs.HC↗

arXiv2022

Collision-free Path Planning in the Latent Space through cGANs

We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides this collision-free latent space after which any planner, using any optimization conditions, can be used to generate the most suitable paths on the fly. We successfully verified this method with a simulated two-link robot arm.

cs.RO↗

arXiv2021

In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning

In this study, we report the successful execution of in-air knotting of rope using a dual-arm two-finger robot based on deep learning. Owing to its flexibility, the state of the rope was in constant flux during the operation of the robot. This required the robot control system to dynamically correspond to the state of the object at all times. However, a manual description of appropriate robot motions corresponding to all object states is difficult to be prepared in advance. To resolve this issue, we constructed a model that instructed the robot to perform bowknots and overhand knots based on two deep neural networks trained using the data gathered from its sensorimotor, including visual and proximity sensors. The resultant model was verified to be capable of predicting the appropriate robot motions based on the sensory information available online. In addition, we designed certain task motions based on the Ian knot method using the dual-arm two-fingers robot. The designed knotting motions do not require a dedicated workbench or robot hand, thereby enhancing the versatility of the proposed method. Finally, experiments were performed to estimate the knotting performance of the real robot while executing overhand knots and bowknots on rope and its success rate. The experimental results established the effectiveness and high performance of the proposed method.

cs.RO↗

arXiv2021

How to select and use tools? : Active Perception of Target Objects Using Multimodal Deep Learning

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it difficult to accordingly change tools and adjust actions. To manipulate various objects with tools, robots must both understand tool functions and recognize object characteristics to discern a tool-object-action relation. We focus on active perception using multimodal sensorimotor data while a robot interacts with objects, and allow the robot to recognize their extrinsic and intrinsic characteristics. We construct a deep neural networks (DNN) model that learns to recognize object characteristics, acquires tool-object-action relations, and generates motions for tool selection and handling. As an example tool-use situation, the robot performs an ingredients transfer task, using a turner or ladle to transfer an ingredient from a pot to a bowl. The results confirm that the robot recognizes object characteristics and servings even when the target ingredients are unknown. We also examine the contributions of images, force, and tactile data and show that learning a variety of multimodal information results in rich perception for tool use.

cs.RO↗

arXiv2021

Embodying Pre-Trained Word Embeddings Through Robot Actions

We propose a promising neural network model with which to acquire a grounded representation of robot actions and the linguistic descriptions thereof. Properly responding to various linguistic expressions, including polysemous words, is an important ability for robots that interact with people via linguistic dialogue. Previous studies have shown that robots can use words that are not included in the action-description paired datasets by using pre-trained word embeddings. However, the word embeddings trained under the distributional hypothesis are not grounded, as they are derived purely from a text corpus. In this letter, we transform the pre-trained word embeddings to embodied ones by using the robot's sensory-motor experiences. We extend a bidirectional translation model for actions and descriptions by incorporating non-linear layers that retrofit the word embeddings. By training the retrofit layer and the bidirectional translation model alternately, our proposed model is able to transform the pre-trained word embeddings to adapt to a paired action-description dataset. Our results demonstrate that the embeddings of synonyms form a semantic cluster by reflecting the experiences (actions and environments) of a robot. These embeddings allow the robot to properly generate actions from unseen words that are not paired with actions in a dataset.

cs.RO↗