Sensorimotor Contingencies For Robotics

A workshop at IROS 2015

October the 2nd 2015, Congress Center Hamburg


The sensorimotor approach to cognition states that the key to bring semantics to the world of a robot requires making the robot learn the relation between the actions that the robot performs and the change it experiences in its sensed data because of those actions. Those relations are called sensorimotor contingencies (SMC).

The SMC approach breaks completely the classic sense-plan-act pipe that rules most of today's autonomous robots, by mixing sensation with action, aiming to bridge the gap between symbolic data and semantics for robots. The goal is to build robots with a more robust behavior in real environments.

This workshop aims to explore practical formalizations and computational models of the SMCs and their direct application to robot control and autonomy. Theoretical frameworks will also have their space on a relation of 1/3rd of the accepted papers.


  • How can we build a robot based on SMCs?

  • How can a robot build (semantic) concepts by itself through SMCs exploration?

  • How can a robot use built concepts to solve tasks?

  • How can concepts scale and create more complex (abstract) concepts?

  • Is embodiment required for the creation of concepts? Up to which level?

  • How much pregiven knowledge is required in a robot to create concepts?

  • How can a robot be more robust (work properly in real-life environments) by being based in SMCs?

  • Call for papers


    Papers should be prepared according to the IROS15 final camera ready format and should be 4 to 6 pages long. Detailed information on the paper format is available at the IROS15 page.

    Submitted papers will be eligible for publication on a Special Issue Journal (currently under approval)

    Papers must be sent to Ricardo Téllez by email at


    Deadline for Paper submission: July 15th, 2015

    Acceptance with review comments: July 30th, 2015

    Deadline for final paper submission: August 21th, 12am at last, 2015

    Workshop: October 2nd, 2015


    Invited talk: 40 min (35 min talk, 5 min question)

    Accepted papers talk: 20 min (17 min talk, 3 min question).

    List of invited speakers

    Frank Guerin, University of Aberdeen, Scotland

    Alexander Maye, University of Hamburg, Germany

    David Vernon, University of Skövde, Sweden

    Giorgio Metta, Istituto Italiano di Tecnologia, Italy

    Giulio Sandini, Istituto Italiano di Tecnologia, Italy

    Alexander Terekhov, Institute for Intellectual Systems and Robotics, France

    International Program Committee

    Toni Gomilla, University of the Balearic Islands, Spain

    Severin Finchtl, University of Aberdeen, Scotland

    Luis Montesano, University of Zaragoza, Spain

    Emre Ugur, University of Innsbruck, Austria

    Erhan Oztop, Ozyegin University, Turkey

    Wail Mustafa, Maersk Mc-Kinney Moller Institute, Denmark

    Jimmy Alison, University of Southern Denmark, Denmark

    Diego Pardo, ETH Zurich, Switzerland

    Tom Ziemke, University of Skövde, Sweden

    Clement Moulin-Frier, ENSTA, France

    Dirk Kraft, Syddansk Universitet, Denmark

    Current Schedule



    08:30 – 08:40


    08:40 – 09:25

    Frank Guerin, From sensorimotor contigencies to conceptual knowledge

    09:30 – 09:55

    Ehud Ahissar, Motor-sensory Closed-Loop Perception (CLP) models and robotic implementation

    10:00 – 10:30

    Coffee Break

    10:30 – 11:15

    Alexander Maye, SMCs for autonomous robot control:feats and challenges

    11:15 – 11:45

    Severin Fichtl, Using Relational Histogram Features and Action Labelled Data to Learn Preconditions for Means-End Actions

    11:50 – 12:35

    Giorgio Metta, Peripersonal space: multisensory integration in human and humanoids

    12:35 – 13:00

    Valentin Marcel Building the Representation of an Agent Body from its Sensorimotor Invariants

    13:00 – 14:00

    Sensorimotor Lunch Break

    14:00 – 14:45

    Giulio sandini, Sensorimotor contingencies for human-robot interaction

    14:45 – 15:05

    Martina Zambelli Online Ensemble Learning of Sensorimotor Contingencies

    15:05 – 15:25

    Yukie Nagai Predictive Learning of Sensorimotor Information as a Key for Cognitive Development

    15:30 – 16:00

    Coffee Break

    16:00 – 16:40

    David Vernon, Bridging ideomotor theory and autonomous development through perceptuo-motor memory

    16:40 – 17:00

    Paper 6

    17:00 – 17:40

    Alexander Terekhov, TBA




    Ricardo Téllez, Spanish National Research Council (CSIC), Spain

    Guillem Alenyà, Spanish National Research Council (CSIC), Spain

    Cecilio Angulo, Technical University of Catalonia, Spain

    Kevin O'Regan, National Center for Scientific Research, France