Dynamic and adaptive body schema by learning to predict the sensory consequences of actions

我们的项目提案以跨学科的方式解决了身体图式和代理（预测自己行为的感官后果）的共同发展。跨学科的组成部分是：i)理论/概念：基于人类研究和基本神经科学发现的数据，我们开发了一个具体的设计概念，用于解释大脑功能的神经系统水平上的身体所有权和代理所需的整体机制。这个概念模型指导了实验设置，以便与我们的合作伙伴一起进一步评估该模型。ii)计算神经科学方法：概念模型（代表顶叶皮质、基底神经节、小脑和脑干功能）将在神经水平（放电率、突触可塑性）上实现，从模型中获得的数据将与我们的合作者和共同申请者的数据进行比较。iii)机器人技术：这些模型将在模拟中进行测试，重要的是，在类似于人类研究的现实场景中，在人形机器人（iCub）上进行测试。虽然我们项目的核心不是机器人项目，而是专注于模型构建和理解大脑功能的生物学原理，但从长远来看，所获得的结果可能会导致自主机器人拥有最小自我的类人神经认知结构，作为其行为的一个组成部分。

Our project proposal addresses the co-development of a body schema and of agency (predicting the sensory consequences of one's own actions) in an interdisciplinary way.The interdisciplinary components are: i) Theoretical/conceptual: Based on data from human studies and basic neuro-scientific findings, we developed a concrete design concept of integral mechanisms required for explaining body ownership and agency on a neural systems level of brain function. This conceptual model has guided experimental setups to further evaluate this model together with our partners. ii) Computational neuroscience methods: The conceptual model (representing parietal cortex, basal ganglia, cerebellum, and brainstem function) will be implemented at the neural level (firing-rate, synaptic plasticity), and data obtained from the model will be compared to data from our collaborators and co-applicants. iii) Robotics: The models will be tested in simulation, and importantly, on a humanoid robot (iCub) in a real-world scenario resembling studies with humans. Although at its core our project is not a robotics project, but rather focused on model building and understanding biological principles of brain function, in the long run, the obtained results may lead to autonomous robots that possess the human-like neurocognitive architecture of a minimal self as an integral aspect of their behavior.