{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/enabling-the-sense-of-self-in-a-dual-arm","title":"Enabling the Sense of Self in a Dual-Arm Robot","arxiv_id":"2011.07026","date":"2020-11-13","proceeding":null,"authors":["Ali AlQallaf","Gerardo Aragon-Camarasa"],"abstract":"While humans are aware of their body and capabilities, robots are not. To address this, we present in this paper a neural network architecture that enables a dual-arm robot to get a sense of itself in an environment. Our approach is inspired by human self-awareness developmental levels and serves as the underlying building block for a robot to achieve awareness of itself while carrying out tasks in an environment. We assume that a robot has to know itself before interacting with the environment in order to be able to support different robotic tasks. Hence, we implemented a neural network architecture to enable a robot to differentiate its limbs from the environment using visual and proprioception sensory inputs. We demonstrate experimentally that a robot can distinguish itself with an accuracy of 88.7% on average in cluttered environmental settings and under confounding input signals.","url_abs":"https://arxiv.org/abs/2011.07026v1","url_pdf":"https://arxiv.org/pdf/2011.07026v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"enabling-the-sense-of-self-in-a-dual-arm","repo_url":"https://github.com/cvas-ug/towards-sa","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[],"methods":[{"method_slug":"aware","method_name":"AWARE"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}