arXiv subjects

Yoshiyuki Ohmura

Publications and source records attributed to Yoshiyuki Ohmura.

At least 19 recordsLinked to original sources

arXiv2026

Avoiding Epiphenomenalism in Theories of Consciousness: A Causal Framework Based on Asymmetry

Why do some physical systems possess consciousness, while others do not? A scientific theory of consciousness must explain differences in system behavior in terms of well-defined internal mechanisms. However, many existing approaches introduce higher-level structural or informational descriptions without specifying how these structures contribute to the generation of behavior, raising the concern that they may become theoretically ineffective.A further difficulty arises from the status of causation. Attempts to introduce causally effective mental states appear to conflict with physical theory, while strictly physicalist accounts risk excluding higher-level causation altogether. We argue that this dilemma stems from a conflation of physical determination with causation. To address this issue, we distinguish between two complementary descriptive frameworks: the physical stance and the causal stance. While the physical stance represents systems in terms of state evolution, the causal stance introduces asymmetric relations that enable the explicit representation of internal mechanisms. We show that causal descriptions provide a more constrained and informative representation of internal structure and cannot, in general, be reconstructed from physical descriptions alone. Within this framework, we define mental causation in terms of intrinsic causes and propose the Dual-Laws Model (DLM), which explicitly implements whole-to-parts causal mechanisms. This approach provides a principled way to model the causal role of consciousness without violating physical determinism.

q-bio.NC↗

arXiv2026

Integrated Altruistic and Fairness Preference Induces Advanced Mutual Cooperation in Sequential Social Dilemmas

Inducing cooperation among distributed agents is still a difficult problem in the field of multi-agent reinforcement learning (MARL), particularly in social dilemma situations. There, individual interests are misaligned with the common good and individual rationality leads to suboptimal group outcomes. In contrast, humans are able to achieve cooperation with one another in such situations. A common explanation for such cooperative behavior is that individuals have social preferences. In order to achieve cooperation in MARL, we design a new utility function integrating altruistic preferences (incentive for other's reward) and fairness preferences (incentive for equality) from social psychology and behavioral economics, namely, Altruistic and Fairness Preference (AFP), a reward-sharing mechanism which converts one's own and other's rewards to incentives for cooperative behavior. We performed comparative experiments with standard RL and inequity aversion agents in two challenging sequential social dilemma games, and showed that AFP agents successfully achieved mutual cooperation with more collective rewards and higher equity than the baselines. To further understand the progression of AFP during training, we subsequently explore the effects of altruistic preferences and fairness preferences on agents' behavior. The results suggest that altruistic preferences encourage agents to contribute to the public goods, and fairness preferences induce mutual behavior between agents.

cs.AI↗

arXiv2026

Minimal Set of Questions for Theories of Consciousness: Toward a Unified Explanatory Framework

A central challenge in consciousness research is the lack of agreement on what a theory of consciousness should explain, which makes it difficult to compare existing theories. We propose a framework for organizing explanatory targets of theories based on a minimal set of seven questions designed to be theoretically neutral, causally and functionally relevant, and applicable across different systems. We focus particularly on the role of causation based on the argument that causal relations cannot be fully specified within standard physical descriptions alone. Introducing an asymmetric causal structure allows internal mechanisms to be represented explicitly and helps distinguish between variable- and structure-level causation. As an example, we apply the proposed framework to analyzing the Dual-Laws Model. The aim of the framework is not to propose a definitive theory but to provide a common basis for analyzing and developing theories of consciousness.

q-bio.NC↗

arXiv2026

Closure of Self-Determining System Based on Causal and Constitutive Relations

A self-determining system is defined as one in which causes originating within the system influence the system itself. This definition raises the question of how to specify system boundaries. Although the concept of "closure" is commonly used for this purpose, defining boundaries solely in terms of causal relations introduce challenges, such as how to handle external causes and circular causality. To address this issue, we introduce two types of asymmetric relations: causal and constitutive. We propose that system boundaries can be defined as closures of loops formed by these relations, referred to as causal-constitutive loops. By constraining constitutive relations, the resulting system necessarily includes internal causes and thereby satisfies self-determination. Furthermore, to prevent reduction to supervenience, constitutive relations must involve at least two independent variables. This minimal requirement leads to two interdependent loops, which implies a dual-process organization.

cs.AI↗

arXiv2026

Causal Stance

What is the meaning of physical causal closure? Jaegwon Kim explicitly adopts a conception of causation according to which physical causation is effectively identified with deterministic physical lawfulness, and equates it with physical determinism. While this conception is internally coherent, it differs from currently dominant theories of causation. Physics and the theory of causation serve different descriptive purposes. In this study, we refer to them, respectively, as the Physical Stance and the Causal Stance. Within this framework, physical determinism belongs to the Physical Stance, and physical causal closure is defined only within the Causal Stance. Consequently, the two should not be equated. On this basis, this study reconstructs Davidson's anomalous monism as a materialist position that acknowledges mental causation without contradicting physical determinism. Furthermore, we propose a linguistic framework in which physical causal closure does not hold in the Causal Stance while physical determinism remains intact in the Physical Stance.

physics.hist-ph↗

arXiv2026

Unsupervised Learning of Inter-Object Relationships via Group Homomorphism

While current deep learning models achieve high performance by learning statistical correlations from vast datasets,which stands in stark contrast to human learning. They lack the flexibility of humans-particularly preverbal infants-to autonomously acquire the underlying structure of the world from limited experience and adapt to novel situations. In this study, we propose an unsupervised representation learning method based on a hierarchical relationship in group operations, rather than statistical independence, aiming to build a computational model of the cognitive development of infants. The proposed model features an integrated architecture that simultaneously performs object segmentation and the extraction of motion laws from dynamic image sequences. By introducing the Homomorphism from algebra as a structural constraint within a neural network, the model structurally separates pixel-level changes into meaningful, decomposed transformation components, such as translation and deformation. Using interaction scenes (chasing and evading tasks) based on developmental science findings, we experimentally demonstrate that the model can segment multiple objects into individual slots without any ground-truth labels. Furthermore, we confirmed that relative movements between objects, such as approaching or receding, are accurately mapped and structured into a one-dimensional additive latent space. These results suggest that by introducing algebraic geometric constraints rather than relying solely on statistical correlation learning, physically interpretable "disentangled representations" can be acquired. This study contributes to the understanding of the process by which infants internalize environmental laws as structures and provides a new perspective for constructing artificial systems with developmental intelligence.

cs.LG↗

arXiv2026

Transformation Categorization Based on Group Decomposition Theory Using Parameter Division

Representation learning seeks meaningful sensory representations without supervision and can model aspects of human development. Although many neural networks empirically learn useful features, a principled account of what makes a representation "good" remains elusive. We study unsupervised categorization of transformations between pairs of inputs under algebraic constraints. Classical disentanglement favors mutually independent factors and fails when factors are coupled. Our prior Galois-theoretic approach decomposes a group via normal subgroups by learning a product of two transformations with one factor constrained to a normal subgroup, covering both commutative and non-commutative cases. That method, however, relied on auxiliary assumptions (e.g., motion and isometry restrictions) not required by decomposition theory, and ablations did not separate theory-based from auxiliary effects. We propose parameter division for a single transformation: we split its parameter into components, impose homomorphism constraints mapping the full transformation to one component, and identify the normal subgroup as the set of transformations when that component is fixed to the identity. This formulation drops the previous auxiliary assumptions and applies more broadly. We evaluate on image pairs involving rotation, translation, and scale; ablations show that group-decomposition constraints drive appropriate categorization.

cs.LG↗

arXiv2026

Defining causal mechanism in dual process theory and two types of feedback control

Mental events are considered to supervene on physical events. A supervenient event does not change without a corresponding change in the underlying subvenient physical events. Since wholes and their parts exhibit the same supervenience-subvenience relations, inter-level causation has been expected to serve as a model for mental causation. We proposed an inter-level causation mechanism to construct a model of consciousness and an agent's self-determination. However, a significant gap exists between this mechanism and cognitive functions. Here, we demonstrate how to integrate the inter-level causation mechanism with the widely known dual-process theories. We assume that the supervenience level is composed of multiple supervenient functions (i.e., neural networks), and we argue that inter-level causation can be achieved by controlling the feedback error defined through changing algebraic expressions combining these functions. Using inter-level causation allows for a dual laws model in which each level possesses its own distinct dynamics. In this framework, the feedback error is determined independently by two processes: (1) the selection of equations combining supervenient functions, and (2) the negative feedback error reduction to satisfy the equations through adjustments of neurons and synapses. We interpret these two independent feedback controls as Type 1 and Type 2 processes in the dual process theories. As a result, theories of consciousness, agency, and dual process theory are unified into a single framework, and the characteristic features of Type 1 and Type 2 processes are naturally derived.

q-bio.NC↗

arXiv2026

Exploration-assisted Bottleneck Transition Toward Robust and Data-efficient Deformable Object Manipulation

Imitation learning has demonstrated impressive results in robotic manipulation but fails under out-of-distribution (OOD) states. This limitation is particularly critical in Deformable Object Manipulation (DOM), where the near-infinite possible configurations render comprehensive data collection infeasible. Although several methods address OOD states, they typically require exhaustive data or highly precise perception. Such requirements are often impractical for DOM owing to its inherent complexities, including self-occlusion. To address the OOD problem in DOM, we propose a novel framework, Exploration-assisted Bottleneck Transition for Deformable Object Manipulation (ExBot), which addresses the OOD challenge through two key advantages. First, we introduce bottleneck states, standardized configurations that serve as starting points for task execution. This enables the reconceptualization of OOD challenges as the problem of transitioning diverse initial states to these bottleneck states, significantly reducing demonstration requirements. Second, to account for imperfect perception, we partition the OOD state space based on recognizability and employ dual action primitives. This approach enables ExBot to manipulate even unrecognizable states without requiring accurate perception. By concentrating demonstrations around bottleneck states and leveraging exploration to alter perceptual conditions, ExBot achieves both data efficiency and robustness to severe OOD scenarios. Real-world experiments on rope and cloth manipulation demonstrate successful task completion from diverse OOD states, including severe self-occlusions.

cs.RO↗

arXiv2026

A Mathematical Formalization of Self-Determining Agency

Defining agency is an extremely important challenge for cognitive science and artificial intelligence. Physics generally describes mechanical happenings, but there remains an unbridgeable gap between these and the acts of agents. To discuss the morality and responsibility of agents, it is necessary to model acts; whether such responsible acts can be fully explained by physical determinism remains an ongoing debate. Although we have already proposed a physical agent determinism model that appears to go beyond mere mechanical happenings, we have not yet established a strict mathematical formalism to eliminate ambiguity. Here, we explain why a physical system can follow coarse-graining agent-level determination without violating physical laws by formulating supervenient causation. Generally, supervenience including coarse graining does not change without a change in its lower base; therefore, a single supervenience alone cannot define supervenient causation. We define supervenient causation as the causal efficacy from the supervenience level to its lower base level. Although an algebraic expression composed of the multiple supervenient functions does supervenes on the base, an index sequence that determines the algebraic expression does not supervene on the base. Therefore, the sequence can possess unique dynamical laws that are independent of the lower base level. This independent dynamics creates the possibility for temporally preceding changes at the supervenience level to cause changes at the lower base level. Such a dual-laws system is considered useful for modeling self-determining agents such as humans.

eess.SY↗

arXiv2025

Enhancing Reusability of Learned Skills for Robot Manipulation via Gaze Information and Motion Bottlenecks

Autonomous agents capable of diverse object manipulations should be able to acquire a wide range of manipulation skills with high reusability. Although advances in deep learning have made it increasingly feasible to replicate the dexterity of human teleoperation in robots, generalizing these acquired skills to previously unseen scenarios remains a significant challenge. In this study, we propose a novel algorithm, Gaze-based Bottleneck-aware Robot Manipulation (GazeBot), which enables high reusability of learned motions without sacrificing dexterity or reactivity. By leveraging gaze information and motion bottlenecks, both crucial features for object manipulation, GazeBot achieves high success rates compared with state-of-the-art imitation learning methods, particularly when the object positions and end-effector poses differ from those in the provided demonstrations. Furthermore, the training process of GazeBot is entirely data-driven once a demonstration dataset with gaze data is provided. Videos and code are available at https://crumbyrobotics.github.io/gazebot.

cs.RO↗

arXiv2025

Imitation Learning for Active Neck Motion Enabling Robot Manipulation beyond the Field of View

Most prior research in deep imitation learning has predominantly utilized fixed cameras for image input, which constrains task performance to the predefined field of view. However, enabling a robot to actively maneuver its neck can significantly expand the scope of imitation learning to encompass a wider variety of tasks and expressive actions such as neck gestures. To facilitate imitation learning in robots capable of neck movement while simultaneously performing object manipulation, we propose a teaching system that systematically collects datasets incorporating neck movements while minimizing discomfort caused by dynamic viewpoints during teleoperation. In addition, we present a novel network model for learning manipulation tasks including active neck motion. Experimental results showed that our model can achieve a high success rate of around 90\%, regardless of the distraction from the viewpoint variations by active neck motion. Moreover, the proposed model proved particularly effective in challenging scenarios, such as when objects were situated at the periphery or beyond the standard field of view, where traditional models struggled. The proposed approach contributes to the efficiency of dataset collection and extends the applicability of imitation learning to more complex and dynamic scenarios.

cs.RO↗

arXiv2025

Feature-Based Lie Group Transformer for Real-World Applications

The main goal of representation learning is to acquire meaningful representations from real-world sensory inputs without supervision. Representation learning explains some aspects of human development. Various neural network (NN) models have been proposed that acquire empirically good representations. However, the formulation of a good representation has not been established. We recently proposed a method for categorizing changes between a pair of sensory inputs. A unique feature of this approach is that transformations between two sensory inputs are learned to satisfy algebraic structural constraints. Conventional representation learning often assumes that disentangled independent feature axes is a good representation; however, we found that such a representation cannot account for conditional independence. To overcome this problem, we proposed a new method using group decomposition in Galois algebra theory. Although this method is promising for defining a more general representation, it assumes pixel-to-pixel translation without feature extraction, and can only process low-resolution images with no background, which prevents real-world application. In this study, we provide a simple method to apply our group decomposition theory to a more realistic scenario by combining feature extraction and object segmentation. We replace pixel translation with feature translation and formulate object segmentation as grouping features under the same transformation. We validated the proposed method on a practical dataset containing both real-world object and background. We believe that our model will lead to a better understanding of human development of object recognition in the real world.

cs.CV↗

arXiv2025

Transformer-based deep imitation learning for dual-arm robot manipulation

Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its application to dual-arm manipulation tasks remains challenging. In a dual-arm manipulation setup, the increased number of state dimensions caused by the additional robot manipulators causes distractions and results in poor performance of the neural networks. We address this issue using a self-attention mechanism that computes dependencies between elements in a sequential input and focuses on important elements. A Transformer, a variant of self-attention architecture, is applied to deep imitation learning to solve dual-arm manipulation tasks in the real world. The proposed method has been tested on dual-arm manipulation tasks using a real robot. The experimental results demonstrated that the Transformer-based deep imitation learning architecture can attend to the important features among the sensory inputs, therefore reducing distractions and improving manipulation performance when compared with the baseline architecture without the self-attention mechanisms. Data from this and related works are available at: https://sites.google.com/view/multi-task-fine.

cs.RO↗

arXiv2025

Gaze-based dual resolution deep imitation learning for high-precision dexterous robot manipulation

A high-precision manipulation task, such as needle threading, is challenging. Physiological studies have proposed connecting low-resolution peripheral vision and fast movement to transport the hand into the vicinity of an object, and using high-resolution foveated vision to achieve the accurate homing of the hand to the object. The results of this study demonstrate that a deep imitation learning based method, inspired by the gaze-based dual resolution visuomotor control system in humans, can solve the needle threading task. First, we recorded the gaze movements of a human operator who was teleoperating a robot. Then, we used only a high-resolution image around the gaze to precisely control the thread position when it was close to the target. We used a low-resolution peripheral image to reach the vicinity of the target. The experimental results obtained in this study demonstrate that the proposed method enables precise manipulation tasks using a general-purpose robot manipulator and improves computational efficiency. Data from this and related works are available at: https://sites.google.com/view/multi-task-fine.

cs.RO↗

arXiv2025

Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation

Long-horizon dexterous robot manipulation of deformable objects, such as banana peeling, is a problematic task because of the difficulties in object modeling and a lack of knowledge about stable and dexterous manipulation skills. This paper presents a goal-conditioned dual-action (GC-DA) deep imitation learning (DIL) approach that can learn dexterous manipulation skills using human demonstration data. Previous DIL methods map the current sensory input and reactive action, which often fails because of compounding errors in imitation learning caused by the recurrent computation of actions. The method predicts reactive action only when the precise manipulation of the target object is required (local action) and generates the entire trajectory when precise manipulation is not required (global action). This dual-action formulation effectively prevents compounding error in the imitation learning using the trajectory-based global action while responding to unexpected changes in the target object during the reactive local action. The proposed method was tested in a real dual-arm robot and successfully accomplished the banana-peeling task. Data from this and related works are available at: https://sites.google.com/view/multi-task-fine.

cs.RO↗

arXiv2025

Learning Conditionally Independent Transformations using Normal Subgroups in Group Theory

Humans develop certain cognitive abilities to recognize objects and their transformations without explicit supervision, highlighting the importance of unsupervised representation learning. A fundamental challenge in unsupervised representation learning is to separate different transformations in learned feature representations. Although algebraic approaches have been explored, a comprehensive theoretical framework remains underdeveloped. Existing methods decompose transformations based on algebraic independence, but these methods primarily focus on commutative transformations and do not extend to cases where transformations are conditionally independent but noncommutative. To extend current representation learning frameworks, we draw inspiration from Galois theory, where the decomposition of groups through normal subgroups provides an approach for the analysis of structured transformations. Normal subgroups naturally extend commutativity under certain conditions and offer a foundation for the categorization of transformations, even when they do not commute. In this paper, we propose a novel approach that leverages normal subgroups to enable the separation of conditionally independent transformations, even in the absence of commutativity. Through experiments on geometric transformations in images, we show that our method successfully categorizes conditionally independent transformations, such as rotation and translation, in an unsupervised manner, suggesting a close link between group decomposition via normal subgroups and transformation categorization in representation learning.

cs.CV↗

arXiv2025

Gaze-Guided Task Decomposition for Imitation Learning in Robotic Manipulation

In imitation learning for robotic manipulation, decomposing object manipulation tasks into sub-tasks enables the reuse of learned skills and the combination of learned behaviors to perform novel tasks, rather than simply replicating demonstrated motions. Human gaze is closely linked to hand movements during object manipulation. We hypothesize that an imitating agent's gaze control, fixating on specific landmarks and transitioning between them, simultaneously segments demonstrated manipulations into sub-tasks. This study proposes a simple yet robust task decomposition method based on gaze transitions. Using teleoperation, a common modality in robotic manipulation for collecting demonstrations, in which a human operator's gaze is measured and used for task decomposition as a substitute for an imitating agent's gaze. Our approach ensures consistent task decomposition across all demonstrations for each task, which is desirable in contexts such as machine learning. We evaluated the method across demonstrations of various tasks, assessing the characteristics and consistency of the resulting sub-tasks. Furthermore, extensive testing across different hyperparameter settings confirmed its robustness, making it adaptable to diverse robotic systems. Our code is available at https://github.com/crumbyRobotics/GazeTaskDecomp.

cs.RO↗