Emergent awareness from minimal collectives

Project Information

EMERGE

Grant agreement ID: 101070918

DOI

10.3030/101070918

EC signature date 22 June 2022

Start date 1 October 2022

End date 30 September 2026

Funded under

• The European Innovation Council (EIC)

Total cost

€ 2 993 261,25

EU contribution

€ 2 839 511,00

Coordinated by

UNIVERSITA DI PISA
Italy

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Other (2)

First version of the ACS

D4.1 First version of the ACS (M18): First version of the computing framework on Archetypes, describing neural computations on Archetypes at the local scale of units.

First version of the ADS

D4.2 First version of the ADS (M30): Final version of the computing framework on Archetypes, including Archetypes Networks, as well as the first version of the adaptation framework including both life-long and evolutionary learning at the local scale.

Documents, reports (12)

Measuring emergent awareness

D51 Measuring emergent awareness M12 report detailing measures of emergent awareness

Map of risks and potentials for humans

D2.3. Map of risks and potentials for humans (M24): report on the experiments conducted to test the intelligibility and ethical assessment of collaborative aware systems, and guidelines to integrate these considerations in the further developments and implementations of the systems.

Communication and dissemination plan

D82 Communication and dissemination plan M6

Intermediate report on communication and dissemination activities

D8.3 Intermediate report on communication and dissemination activities (M30)

Ethics monitoring and compliance

D21 Ethics monitoring and compliance M6 description of the technical and organisational measures that will be implemented to safeguard ethical aspects and ensure compliance with national and EU laws and guidelines

Final bestiary of archetypes

D3.2 Final bestiary of archetypes (M24): final report on archetypical units and connectors, their functions, and properties.

Preliminary bestiary of archetypes

D31 Preliminary bestiary of archetypes M12 preliminary report on archetypical units and connectors their functions and properties

Demarcating collaborative awareness from related concepts

D.1.2 Demarcating collaborative awareness from related concepts (M18): report describing the framework, associated publication and visualisation.

Dimensions of collaborative awareness

D.1.3 Dimensions of collaborative awareness (M24): report of the model, publication and visualisation.

Local awareness criteria

D11 Local awareness criteria M6 report of the literature review and associated paper

Map of risks in AI-systems

D22 Map of risks in AIsystems M12 complete and detailed taxonomy and assessment of the risks raised by failures of collaborative awareness in the systems and guidelines to mitigate them

Emergent awareness control

D5.2 Emergent awareness control (M30): report describing the conditions leading to different resolutions of awareness with examples in simulation and preliminary results on how to control emergence of awareness.

Data Management Plan (2)

Data Management Plan

D92 Data Management Plan M6 It describes the project data management system

Updated data management plan

D9.5 Updated data management plan (M30)

Websites, patent fillings, videos etc. (1)

Project website, logo and online presence

D81 Project website logo and online presence M2

Publications

Book chapters (9)

A Data-Driven Method to Identify Fault Mitigation Strategies in Robot Swarms

Author(s): Suet Lee, Sabine Hauert
Published in: Lecture Notes in Computer Science, Swarm Intelligence, 2024, ISBN 978-3-031-70931-9
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-70932-6_2

Non-dissipative Reservoir Computing Approaches for Time-Series Classification

Author(s): Claudio Gallicchio, Andrea Ceni
Published in: Lecture Notes in Computer Science, Artificial Neural Networks and Machine Learning – ICANN 2024, 2024, ISBN 978-3-031-72358-2
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-72359-9_8

EMERGE - Emergent Awareness from Minimal Collectives

Author(s): Davide Bacciu, Vincenzo Ambriola, Bahador Bahrami, Andrea Ceni, Andrea Cossu, Valerio De Caro, Cosimo Della Santina, Ophelia Deroy, Claudio Gallicchio, Riccardo Guidotti, Sabine Hauert, Simon Jones, Jurgis Karpus, Suet Lee, Jingyue Liu, Vincenzo Lomonaco, Nadine Meertens, Emma Milner, Anna Monreale, Renan Picoreti Nakahara, Mariano Ramirez, Ebrahim Shahabi, Maximilian Stölzle
Published in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2024
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76424-0_16

An Experimental Study of Model-Based Control for Planar Handed Shearing Auxetics Robots

Author(s): Maximilian Stölzle, Daniela Rus, Cosimo Della Santina
Published in: Springer Proceedings in Advanced Robotics, Experimental Robotics, 2024, ISBN 978-3-031-63595-3
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-63596-0_14

Deep Echo State Networks for Modelling of Industrial Systems

Author(s): José Ramón Rodríguez-Ossorio, Claudio Gallicchio, Antonio Morán, Ignacio Díaz, Juan J. Fuertes, Manuel Domínguez
Published in: Communications in Computer and Information Science, Engineering Applications of Neural Networks, 2024, ISBN 978-3-031-62494-0
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-62495-7_9

Awareness in Robotics: An Early Perspective from the Viewpoint of the EIC Pathfinder Challenge “Awareness Inside”

Author(s): Cosimo Della Santina, Carlos Hernandez Corbato, Burak Sisman, Luis A. Leiva, Ioannis Arapakis, Michalis Vakalellis, Jean Vanderdonckt, Luis Fernando D’Haro, Guido Manzi, Cristina Becchio, Aïda Elamrani, Mohsen Alirezaei, Ginevra Castellano, Dimos V. Dimarogonas, Arabinda Ghosh, Sofie Haesaert, Sadegh Soudjani, Sybert Stroeve, Paul Verschure, Davide Bacciu, Ophelia Deroy, Bahador Bahrami, Claudio Gallicchio, Sabine Hauert, Ricardo Sanz, Pablo Lanillos, Giovanni Iacca, Stephan Sigg, Manel Gasulla, Luc Steels, Carles Sierra
Published in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2025, ISBN 978-3-031-76423-3
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76424-0_20

Evolving Dynamic Fault Mitigation Strategies in a Robot Swarm for Collective Transport

Author(s): Suet Lee, Sabine Hauert
Published in: Lecture Notes in Computer Science, Applications of Evolutionary Computation, 2025, ISBN 978-3-031-90061-7
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-90062-4_19

A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot

Author(s): Emilio Tavio y Cabrera, Cosimo Della Santina, Pablo Borja
Published in: Springer Proceedings in Advanced Robotics, Human-Friendly Robotics 2023, 2024, ISBN 978-3-031-54999-1
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-55000-3_2

In-Context Interference In Chat-Based Large Language Models

Author(s): Eric Nuertey Coleman, Julio Hurtado, Vincenzo Lomonaco
Published in: Springer Proceedings in Advanced Robotics, European Robotics Forum 2024, 2025
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-76424-0_21

Conference proceedings (33)

Diversifying Non-dissipative Reservoir Computing Dynamics

Author(s): Claudio Gallicchio
Published in: Artificial Neural Networks and Machine Learning – ICANN 2023. ICANN 2023. Lecture Notes in Computer Science, Issue 14261, 2023, ISBN 978-3-031-44197-4
Publisher: Springer, Cham
DOI: 10.5281/zenodo.8233785

I Know How: Combining Prior Policies to Solve New Tasks

Author(s): Malio Li, Elia Piccoli, Vincenzo Lomonaco, Davide Bacciu
Published in: 2024 IEEE Conference on Games (CoG), 2024, ISSN 2325-4289
Publisher: IEEE
DOI: 10.1109/COG60054.2024.10645586

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots

Author(s): Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina
Published in: 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), 2024, ISSN 2769-4534
Publisher: IEEE
DOI: 10.1109/ROBOSOFT60065.2024.10521987

Towards Deep Continual Workspace Monitoring: Performance Evaluation of CL Strategies for Object Detection in Working Sites

Author(s): ASLI CELIK, OGUZHAN URHAN, Andrea Cossu, Vincenzo Lomonaco
Published in: ESANN 2024 proceesdings, 2024, ISBN 978-2-87587-090-2
Publisher: Ciaco - i6doc.com
DOI: 10.14428/ESANN/2024.ES2024-128

Improving Fairness via Intrinsic Plasticity in Echo State Networks

Author(s): Ceni, Andrea; Bacciu, Davide; De Caro, Valerio; Gallicchio, Claudio; Oneto, Luca
Published in: ESANN 2023 proceedings, European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. Bruges (Belgium) and online event, 4-6 October 2023, 2023, ISBN 978-2-87587-088-9
Publisher: i6doc.com
DOI: 10.5281/zenodo.8091736

Adaptive LoRA Merging for Efficient Domain Incremental Learning

Author(s): Eric Nuertey Coleman and Luigi Quarantiello and Julio Hurtado and Vincenzo Lomonaco
Published in: Adaptive Foundation Models: Evolving AI for Personalized and Efficient Learning, 2024
Publisher: NeurIPS 2024 (via OpenReview)
DOI: 10.5281/zenodo.13951654

Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation

Author(s): Stölzle, Maximilian; Chin, Lillian; Truby, Ryan; Rus, Daniela; Della Santina, Cosimo
Published in: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023, ISSN 2769-4526
Publisher: IEEE
DOI: 10.1109/ROBOSOFT55895.2023.10121989

Enhancing Echo State Networks with Gradient-based Explainability Methods

Author(s): Francesco Spinnato, Andrea Cossu, Riccardo Guidotti, Andrea Ceni, Claudio Gallicchio, Davide Bacciu
Published in: ESANN 2024 proceesdings, 2024, ISBN 978-2-87587-090-2
Publisher: Ciaco - i6doc.com
DOI: 10.14428/ESANN/2024.ES2024-78

Sparse Reservoir Topologies for Physical Implementations of Random Oscillators Networks

Author(s): Andrea Cossu, Andrea Ceni, Davide Bacciu, Claudio Gallicchio
Published in: Proceedings of the 4th International Conference on AI-ML Systems, 2025
Publisher: ACM
DOI: 10.1145/3703412.3703413

Randomly Coupled Oscillators for Time Series Processing

Author(s): Andrea Ceni ~Andrea_Ceni1 , Andrea Cossu, Jingyue Liu, Maximilian Stölzle, Cosimo Della Santina, Claudio Gallicchio, Davide Bacciu
Published in: ICML Workshop on New Frontiers in Learning, Control, and Dynamical Systems, 2023
Publisher: International Conference on Machine Learning (ICML), OpenReview
DOI: 10.5281/zenodo.15101725

Piecewise Affine Curvature model: a Reduced-Order Model for Soft Robot-Environment Interaction Beyond PCC

Author(s): Francesco Stella, Qinghua Guan, Cosimo Della Santina, Josie Hughes
Published in: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023, ISSN 2769-4534
Publisher: IEEE
DOI: 10.1109/ROBOSOFT55895.2023.10121939

Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space

Author(s): Stölzle, M., & Della Santina, C.
Published in: The Thirty-eighth Annual Conference on Neural Information Processing Systems, 2024, 2024
Publisher: Curran Associates, Inc.
DOI: 10.48550/ARXIV.2409.08439

FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects

Author(s): Willem Heeringa, Cosimo Della Santina, Gerwin Smit
Published in: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023, ISBN 979-8-3503-3222-3
Publisher: IEEE
DOI: 10.1109/ROBOSOFT55895.2023.10122107

Random Oscillators Network for Time Series Processing

Author(s): Andrea Ceni, Andrea Cossu, Maximilian W Stölzle, Jingyue Liu, Cosimo Della Santina, Davide Bacciu, Claudio Gallicchio
Published in: Proceedings of The 27th International Conference on Artificial Intelligence and Statistics, Issue 238, 2024
Publisher: PMLR
DOI: 10.5281/ZENODO.12084387

A Protocol for Continual Explanation of SHAP

Author(s): Cossu, Andrea; Spinnato, Francesco; Guidotti, Riccardo; Bacciu, Davide
Published in: ESANN 2023 proceedings, European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. Bruges (Belgium) and online event, 4-6 October 2023, 2023, ISBN 978-2-87587-088-9
Publisher: i6doc.com
DOI: 10.14428/esann/2023.ES2023-41

Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization

Author(s): Andrea Vicari, Nana Obayashi, Francesco Stella, Gaetan Raynaud, Karen Mulleners, Cosimo Della Santina, Josie Hughes
Published in: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023, ISBN 979-8-3503-3222-3
Publisher: IEEE
DOI: 10.1109/ROBOSOFT55895.2023.10121999

An Untrained Neural Model for Fast and Accurate Graph Classification

Author(s): Navarin, N., Pasa, L., Gallicchio, C., Sperduti, A.
Published in: Artificial Neural Networks and Machine Learning – ICANN 2023 - Lecture Notes in Computer Science, Issue vol 14257, 2023, ISBN 978-3-031-44215-5
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-44216-2_23

Learning causal abstractions of linear structural causal models

Author(s): Riccardo Massidda, Sara Magliacane, Davide Bacciu
Published in: UAI '24: Proceedings of the Fortieth Conference on Uncertainty in Artificial Intelligence, Issue Article No.: 118, Pages 2486 - 2515, 2024
Publisher: JMLR.org
DOI: 10.5555/3702676.3702794

Modular Wavelength Adaptation of the Dynamic Optical MicroEnvironment

Author(s): Neshika Wijewardhane, Matthew Uppington, Martin How, Helmut Hauser, Eugenia Piddini, Sabine Hauert
Published in: 2023 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2023, ISBN 979-8-3503-3039-7
Publisher: IEEE
DOI: 10.1109/MARSS58567.2023.10294114

Informed Machine Learning for Complex Data

Author(s): Luca Oneto, Nicolò Navarin, Alessio Micheli, Luca Pasa, Claudio Gallicchio, Davide Bacciu, Davide Anguita
Published in: ESANN 2024 proceesdings, 2024
Publisher: Ciaco - i6doc.com
DOI: 10.14428/ESANN/2024.ES2024-1

An Empirical Investigation on Variational Autoencoder-Based Dynamic Modeling of Deformable Objects from RGB Data

Author(s): Tomás Coleman, Robert Babuška, Jens Kober, Cosimo Della Santina
Published in: 2024 32nd Mediterranean Conference on Control and Automation (MED), 2024, ISSN 2473-3504
Publisher: IEEE
DOI: 10.1109/MED61351.2024.10566173

Temporal Graph ODEs for Irregularly-Sampled Time Series

Author(s): Gravina, Alessio; Zambon, Daniele; Bacciu, Davide; Alippi, Cesare
Published in: Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence Main Track, 2024
Publisher: IJCAI
DOI: 10.24963/IJCAI.2024/445

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control

Author(s): Stölzle, Maximilian; Baberwal, Sonal Santosh; Rus, Daniela; Coyle, Shirley; Della Santina, Cosimo
Published in: 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, 2024, ISSN 2769-4534
Publisher: IEEE
DOI: 10.1109/ROBOSOFT60065.2024.10522005

Decentralized Incremental Federated Learning with Echo State Networks

Author(s): Geremia Pompei, Patrizio Dazzi, Valerio De Caro, Claudio Gallicchio
Published in: 2024 International Joint Conference on Neural Networks (IJCNN), 2024, ISSN 2161-4407
Publisher: IEEE
DOI: 10.1109/IJCNN60899.2024.10650756

Continuously Deep Recurrent Neural Networks

Author(s): Andrea Ceni, Peter Ford Dominey, Claudio Gallicchio, Alessio Micheli, Luca Pedrelli, Domenico Tortorella
Published in: Lecture Notes in Computer Science, Machine Learning and Knowledge Discovery in Databases. Research Track, 2024, ISBN 978-3-031-70367-6
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-70368-3_4

Residual Reservoir Computing Neural Networks for Time-series Classification

Author(s): Ceni, Andrea; Gallicchio, Claudio
Published in: ESANN 2023 proceedings, European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. Bruges (Belgium) and online event, 4-6 October 2023, 2023, ISBN 978-2-87587-088-9
Publisher: i6doc.com
DOI: 10.5281/zenodo.8233789

Automating the Evaluation of the Scalability, Flexibility, and Robustness of Collective Behaviors for Robot Swarms

Author(s): Gabriel Mauricio Madroñero Pachajoa, Wilson Achicanoy, David Garzón Ramos
Published in: 2024 Brazilian Symposium on Robotics (SBR), and 2024 Workshop on Robotics in Education (WRE), 2025, ISSN 2643-685X
Publisher: IEEE
DOI: 10.1109/SBR/WRE63066.2024.10837963

Designing for Children's Digital Well-being: An Agenda for Research, Policy and Practice

Author(s): Vicky Charisi, Nikoleta Yiannoutsou, Shuli Gilutz, Matthew Dennis, Shyamli Suneesh
Published in: Proceedings of the 23rd Annual ACM Interaction Design and Children Conference, 2024
Publisher: ACM
DOI: 10.1145/3628516.3661154

Learning Multi-Reference Frame Skills from Demonstration with Task-Parameterized Gaussian Processes

Author(s): Mariano Ramírez Montero, Giovanni Franzese, Jens Kober, Cosimo Della Santina
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, ISSN 2153-0866
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10803060

Building Trustworthiness by Minimizing the Sim-to-Real Gap in Fault Detection for Robot Swarms

Author(s): Suet Lee, Sabine Hauert
Published in: Proceedings of the First International Symposium on Trustworthy Autonomous Systems, 2023
Publisher: ACM
DOI: 10.1145/3597512.3597527

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Author(s): Francesco Piqué, Francesco Stella, Josie Hughes, Egidio Falotico, Cosimo Della Santina
Published in: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023, ISSN 2769-4534
Publisher: IEEE
DOI: 10.1109/ROBOSOFT55895.2023.10122116

Calibration of Continual Learning Models

Author(s): Lanpei Li, Elia Piccoli, Andrea Cossu, Davide Bacciu, Vincenzo Lomonaco
Published in: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2024, ISSN 2160-7516
Publisher: IEEE
DOI: 10.1109/CVPRW63382.2024.00419

Cellular Au-Tonnetz: a unified audio-visual MIDI generator using Tonnetz, cellular automata, and IoT

Author(s): Didiot-Cook, Thomas
Published in: Artificial Intelligence in Music, Sound, Art and Design. EvoMUSART 2025., Issue 15611, 2025, ISBN 978-3-031-90166-9
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-90167-6_4

Peer reviewed articles (38)

Human cooperation with artificial agents varies across countries

Author(s): Jurgis Karpus, Risako Shirai, Julia Tovar Verba, Rickmer Schulte, Maximilian Weigert, Bahador Bahrami, Katsumi Watanabe, Ophelia Deroy
Published in: Scientific Reports, Issue 15, 2025, ISSN 2045-2322
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S41598-025-92977-8

Residual Echo State Networks: Residual recurrent neural networks with stable dynamics and fast learning

Author(s): Andrea Ceni, Claudio Gallicchio
Published in: Neurocomputing, Issue Volume 597, 2024, 127966, 2024, ISSN 0925-2312
Publisher: Elsevier
DOI: 10.1016/J.NEUCOM.2024.127966

Quasi-Metacognitive Machines: Why We Don’t Need Morally Trustworthy AI and Communicating Reliability is Enough

Author(s): Dorsch, J., Deroy, O.
Published in: Philosophy & Technology, Issue Volume 37, article number 62, (2024), 2024, ISSN 2193-1801
Publisher: Springer Science and Business Media Deutschland GmbH
DOI: 10.1007/S13347-024-00752-W

Continual pre-training mitigates forgetting in language and vision

Author(s): Andrea Cossu, Antonio Carta, Lucia Passaro, Vincenzo Lomonaco, Tinne Tuytelaars, Davide Bacciu
Published in: Neural Networks, Issue 179, 2024, ISSN 0893-6080
Publisher: Elsevier BV
DOI: 10.1016/J.NEUNET.2024.106492

Hedonic valence at the core of consciousness: A review of “A philosophy for the science of animal consciousness” by Walter Veit.

Author(s): Nadine Meertens
Published in: Philosophy and the Mind Sciences, Issue 5, 2024, ISSN 2699-0369
Publisher: Bochum: Ruhr-Universität Bochum
DOI: 10.33735/PHIMISCI.2024.11472

The impact of labeling automotive AI as trustworthy or reliable on user evaluation and technology acceptance

Author(s): John Dorsch, Ophelia Deroy
Published in: Scientific Reports, Issue 15, 2025, ISSN 2045-2322
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S41598-025-85558-2

Singular-Perturbation Control of a Tendon-Driven Soft Robot: Theory and Experiments

Author(s): Lucas Novaki Ribeiro, Pablo Borja, Cosimo Della Santina, Bastian Deutschmann
Published in: IEEE Transactions on Control Systems Technology, 2025, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TCST.2025.3546564

Model-Based Control for Soft Robots With System Uncertainties and Input Saturation

Author(s): Shao, Xiangyu; Pustina, Pietro; Stölzle, Maximilian; Sun, Guanghui; De Luca, Alessandro; Wu, Ligang; Della Santina, Cosimo
Published in: IEEE Transactions on Industrial Electronics, 2023, ISSN 0278-0046
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TIE.2023.3303636

Random Orthogonal Additive Filters: A Solution to the Vanishing/Exploding Gradient of Deep Neural Networks

Author(s): Andrea Ceni
Published in: IEEE Transactions on Neural Networks and Learning Systems, 2025, ISSN 2162-237X
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TNNLS.2025.3538924

Intelligence brings responsibility - Even smart AI assistants are held responsible

Author(s): Longin, Louis; Bahrami, Bahador; Deroy, Ophelia
Published in: iScience, Issue Volume 26, Issue 8, 2023, ISSN 0346-251X
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.isci.2023.107494

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Author(s): Pierallini, Michele; Stella, Francesco; Angelini, Franco; Deutschmann, Bastian; Hughes, Josie; Bicchi, Antonio; Garabini, Manolo; Della Santina, Cosimo
Published in: IEEE Robotics and Automation Letters, Issue vol. 8, no. 10, pp. 6427-6434, 2023, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/LRA.2023.3307007

Physics‐Informed Neural Networks to Model and Control Robots: A Theoretical and Experimental Investigation

Author(s): Jingyue Liu, Pablo Borja, Cosimo Della Santina
Published in: Advanced Intelligent Systems, Issue 6, 2024, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/AISY.202300385

Drifting explanations in continual learning

Author(s): Andrea Cossu, Francesco Spinnato, Riccardo Guidotti, Davide Bacciu
Published in: Neurocomputing, Issue Volume 597, 127960, 2024, ISSN 0925-2312
Publisher: Elsevier BV
DOI: 10.1016/J.NEUCOM.2024.127960

Synergy-based robotic quadruped leveraging passivity for natural intelligence and behavioural diversity

Author(s): Francesco Stella, Mickaël M. Achkar, Cosimo Della Santina, Josie Hughes
Published in: Nature Machine Intelligence, Issue 7, 2025, ISSN 2522-5839
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S42256-025-00988-X

Shared Awareness Across Domain‐Specific Artificial Intelligence: An Alternative to Domain‐General Intelligence and Artificial Consciousness

Author(s): Ophelia Deroy, Davide Bacciu, Bahador Bahrami, Cosimo Della Santina, Sabine Hauert
Published in: Advanced Intelligent Systems, Issue 6, 2024, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/AISY.202300740

Streaming Continual Learning for Unified Adaptive Intelligence in Dynamic Environments

Author(s): Federico Giannini, Giacomo Ziffer, Andrea Cossu, Vincenzo Lomonaco
Published in: IEEE Intelligent Systems, Issue 39, 2024, ISSN 1541-1672
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/MIS.2024.3479469

On the ethical governance of swarm robotic systems in the real world

Author(s): Alan F. T. Winfield, Matimba Swana, Jonathan Ives, Sabine Hauert
Published in: Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, Issue 383, 2025, ISSN 1364-503X
Publisher: The Royal Society
DOI: 10.1098/RSTA.2024.0142

Prescribing Cartesian Stiffness of Soft Robots by Co-Optimization of Shape and Segment-Level Stiffness

Author(s): Francesco Stella, Josie Hughes, Daniela Rus, Cosimo Della Santina
Published in: Soft Robotics, Issue 10, 2023, ISSN 2169-5172
Publisher: Mary Ann Liebert Inc
DOI: 10.1089/SORO.2022.0025

Touching with the eyes: Oculomotor self-touch induces illusory body ownership

Author(s): Antonio Cataldo, Massimiliano Di Luca , Ophelia Deroy, Vincent Hayward
Published in: iScience, Issue Volume 26, Issue 3, 2023, 106180, 2023, ISSN 2589-0042
Publisher: Elsevier
DOI: 10.1016/J.ISCI.2023.106180

Trimmed helicoids: an architectured soft structure yielding soft robots with high precision, large workspace, and compliant interactions

Author(s): Qinghua Guan, Francesco Stella, Cosimo Della Santina, Jinsong Leng & Josie Hughes
Published in: npj Robot, Issue 1, 4 (2023), 2023, ISSN 2731-4278
Publisher: Springer Nature
DOI: 10.1038/S44182-023-00004-7

A memristive computational neural network model for time-series processing

Author(s): Veronica Pistolesi, Andrea Ceni, Gianluca Milano, Carlo Ricciardi, Claudio Gallicchio
Published in: APL Machine Learning, Issue 3, 2025, ISSN 2770-9019
Publisher: AIP Publishing
DOI: 10.1063/5.0255168

Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systems

Author(s): Lepri, Marco; Bacciu, Davide; Della Santina, Cosimo
Published in: IEEE Control Systems Letters, 2023, ISSN 2475-1456
Publisher: IEEE
DOI: 10.48550/arxiv.2312.06256

Euler State Networks: Non-dissipative Reservoir Computing

Author(s): Claudio Gallicchio
Published in: Neurocomputing, Issue 579, 2024, ISSN 0925-2312
Publisher: Elsevier BV
DOI: 10.1016/J.NEUCOM.2024.127411

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics

Author(s): Pietro Pustina; Cosimo Della Santina; Frédéric Boyer; Alessandro De Luca; Federico Renda
Published in: IEEE Transactions on Robotics, Issue vol. 40, pp. 2098-2110, 2024, 2024, ISSN 1552-3098
Publisher: IEEE
DOI: 10.48550/arxiv.2306.07258

The Ethics of Terminology: Can We Use Human Terms to Describe AI?

Author(s): Deroy, Ophelia
Published in: Topoi, Issue 42, 881–889, 2023, ISSN 1572-8749
Publisher: Springer Nature
DOI: 10.1007/s11245-023-09934-1

Co-perceiving: Bringing the social into perception

Author(s): Ophelia Deroy, Louis Longin, Bahador Bahrami
Published in: WIREs Cognitive Science, 2024, ISSN 1939-5078
Publisher: Wiley
DOI: 10.1002/WCS.1681

Interacting with agents without a mind: the case for artificial agents

Author(s): Rebecca Geiselmann, Afroditi Tsourgianni, Ophelia Deroy, Lasana T Harris,
Published in: Current Opinion in Behavioral Sciences, Issue Volume 51, 2023, ISSN 0346-251X
Publisher: Elsevier
DOI: 10.1016/j.cobeha.2023.101282

Investigating over-parameterized randomized graph networks

Author(s): Giovanni Donghi, Luca Pasa, Luca Oneto, Claudio Gallicchio, Alessio Micheli, Davide Anguita, Alessandro Sperduti, Nicolò Navarin
Published in: Neurocomputing, Issue 606, 2024, ISSN 0925-2312
Publisher: Elsevier BV
DOI: 10.1016/J.NEUCOM.2024.128281

Frappe: fast fiducial detection on low cost hardware

Author(s): Jones, Simon; Hauert, Sabine
Published in: Journal of Real-Time Image Processing, Issue 20, 119, 2023, ISSN 2193-1801
Publisher: Springer Science and Business Media Deutschland GmbH
DOI: 10.1007/s11554-023-01373-w

Evolving and generalising morphologies for locomoting micro-scale robotic agents

Author(s): Matthew Uppington, Pierangelo Gobbo, Sabine Hauert, Helmut Hauser
Published in: Journal of Micro and Bio Robotics, Issue 18, 2023, ISSN 2194-6418
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/S12213-023-00155-8

On Oversquashing in Graph Neural Networks Through the Lens of Dynamical Systems

Author(s): Alessio Gravina, Moshe Eliasof, Claudio Gallicchio, Davide Bacciu, Carola-Bibiane Schönlieb
Published in: Proceedings of the AAAI Conference on Artificial Intelligence, Issue 39, 2025, ISSN 2374-3468
Publisher: Association for the Advancement of Artificial Intelligence (AAAI)
DOI: 10.1609/AAAI.V39I16.33858

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Author(s): Francesco Stella, Cosimo Della Santina, Josie Hughes
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2023.3339063

Model-Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges

Author(s): Della Santina, Cosimo; Duriez, Christian; Rus, Daniela
Published in: IEEE Control Systems Magazine, Issue 43(3), 30-65, 2023, ISSN 1941-000X
Publisher: IEEE
DOI: 10.1109/MCS.2023.3253419

Edge of Stability Echo State Network

Author(s): Andrea Ceni, Claudio Gallicchio
Published in: IEEE Transactions on Neural Networks and Learning Systems, 2024, ISSN 2162-237X
Publisher: IEEE
DOI: 10.1109/TNNLS.2024.3400045

BerryTwist: A Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting

Author(s): Johannes F. Elfferich, Ebrahim Shahabi, Cosimo Della Santina, Dimitra Dodou
Published in: IEEE Robotics and Automation Letters, Issue 10, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3505813

Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors

Author(s): Baaij, Thomas; Klein Holkenborg, M.L.B.; Stölzle, Maximilian; van der Tuin, Daan; Naaktgeboren, Jonatan; Babuska, Robert; Della Santina, Cosimo
Published in: Soft Matter, Issue Issue 1, 2023, ISSN 1744-6848
Publisher: Royal Society of Chemistry
DOI: 10.1039/D2SM00914E

NiSNN-A: Noniterative Spiking Neural Network With Attention With Application to Motor Imagery EEG Classification

Author(s): Chuhan Zhang, Wei Pan, Cosimo Della Santina
Published in: IEEE Transactions on Neural Networks and Learning Systems, 2025, ISSN 2162-237X
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TNNLS.2025.3538335

Deep Learning for Dynamic Graphs: Models and Benchmarks

Author(s): Alessio Gravina, Davide Bacciu
Published in: IEEE Transactions on Neural Networks and Learning Systems, Issue 35, 2024, ISSN 2162-237X
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TNNLS.2024.3379735