{"id":"https://openalex.org/W7225740786","doi":"https://doi.org/10.1098/rstb.2025.0153","title":"Scaffolded acquisition of a robot self\u2013world distinction in a layered architecture model of the developing self","display_name":"Scaffolded acquisition of a robot self\u2013world distinction in a layered architecture model of the developing self","publication_year":2026,"publication_date":"2026-11-10","ids":{"openalex":"https://openalex.org/W7225740786","doi":"https://doi.org/10.1098/rstb.2025.0153"},"language":"en","primary_location":{"id":"doi:10.1098/rstb.2025.0153","doi":"https://doi.org/10.1098/rstb.2025.0153","is_oa":true,"landing_page_url":"https://doi.org/10.1098/rstb.2025.0153","pdf_url":null,"source":{"id":"https://openalex.org/S91660768","display_name":"Philosophical Transactions of the Royal Society B Biological Sciences","issn_l":"0962-8436","issn":["0962-8436","1471-2970"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","dongbi-d","jufo-2","ki-jl-2","medline","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319787","host_organization_name":"Royal Society","host_organization_lineage":["https://openalex.org/P4310319787"],"host_organization_lineage_names":["Royal Society"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Philosophical Transactions of the Royal Society B: Biological Sciences","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1098/rstb.2025.0153","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067855547","display_name":"Luca Manneschi","orcid":"https://orcid.org/0000-0002-0125-1325","observed_orcids":["https://orcid.org/0000-0002-0125-1325"]},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luca Manneschi","raw_affiliation_strings":["School of Computer Science, The University of Sheffield 1 , Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Sheffield 1 , Sheffield, UK","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042684144","display_name":"Alejandro Jim\u00e9nez-Rodr\u00edguez","orcid":"https://orcid.org/0000-0001-7172-1794","observed_orcids":["https://orcid.org/0000-0001-7172-1794"]},"institutions":[{"id":"https://openalex.org/I71422933","display_name":"Sheffield Hallam University","ror":"https://ror.org/019wt1929","country_code":"GB","type":"education","lineage":["https://openalex.org/I71422933"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alejandro Jimenez-Rodriguez","raw_affiliation_strings":["Department of Computing, Sheffield Hallam University 2 , Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Sheffield Hallam University 2 , Sheffield, UK","institution_ids":["https://openalex.org/I71422933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070848416","display_name":"Daniel Camilleri","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Camilleri","raw_affiliation_strings":["Kinematic Trees Ltd 3 , Sheffield, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kinematic Trees Ltd 3 , Sheffield, UK","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013009407","display_name":"Tony J. Prescott","orcid":"https://orcid.org/0000-0003-4927-5390","observed_orcids":["https://orcid.org/0000-0003-4927-5390"]},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tony J. Prescott","raw_affiliation_strings":["School of Computer Science, The University of Sheffield 1 , Sheffield, UK"],"raw_orcid":"https://orcid.org/0000-0003-4927-5390","affiliations":[{"raw_affiliation_string":"School of Computer Science, The University of Sheffield 1 , Sheffield, UK","institution_ids":["https://openalex.org/I91136226"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3045,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80545724,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"381","issue":"1962","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11883","display_name":"Embodied and Extended Cognition","score":0.6205999851226807,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11883","display_name":"Embodied and Extended Cognition","score":0.6205999851226807,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T14381","display_name":"Psychiatry, Mental Health, Neuroscience","score":0.14550000429153442,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10258","display_name":"Philosophy and Theoretical Science","score":0.10109999775886536,"subfield":{"id":"https://openalex.org/subfields/1211","display_name":"Philosophy"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.7501000165939331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6521000266075134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6248999834060669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.51910001039505},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4896000027656555},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42820000648498535},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40869998931884766},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.3815000057220459},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.34700000286102295},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.3312000036239624},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.30820000171661377},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3077999949455261},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.2856000065803528},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.28349998593330383},{"id":"https://openalex.org/C11207580","wikidata":"https://www.wikidata.org/wiki/Q5266817","display_name":"Developmental robotics","level":4,"score":0.2782999873161316},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C106960710","wikidata":"https://www.wikidata.org/wiki/Q609408","display_name":"Self-organization","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1098/rstb.2025.0153","doi":"https://doi.org/10.1098/rstb.2025.0153","is_oa":true,"landing_page_url":"https://doi.org/10.1098/rstb.2025.0153","pdf_url":null,"source":{"id":"https://openalex.org/S91660768","display_name":"Philosophical Transactions of the Royal Society B Biological Sciences","issn_l":"0962-8436","issn":["0962-8436","1471-2970"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","dongbi-d","jufo-2","ki-jl-2","medline","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319787","host_organization_name":"Royal Society","host_organization_lineage":["https://openalex.org/P4310319787"],"host_organization_lineage_names":["Royal Society"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Philosophical Transactions of the Royal Society B: Biological Sciences","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1098/rstb.2025.0153","doi":"https://doi.org/10.1098/rstb.2025.0153","is_oa":true,"landing_page_url":"https://doi.org/10.1098/rstb.2025.0153","pdf_url":null,"source":{"id":"https://openalex.org/S91660768","display_name":"Philosophical Transactions of the Royal Society B Biological Sciences","issn_l":"0962-8436","issn":["0962-8436","1471-2970"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","dongbi-d","jufo-2","ki-jl-2","medline","norway-2","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319787","host_organization_name":"Royal Society","host_organization_lineage":["https://openalex.org/P4310319787"],"host_organization_lineage_names":["Royal Society"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Philosophical Transactions of the Royal Society B: Biological Sciences","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":113,"referenced_works":["https://openalex.org/W1496101456","https://openalex.org/W1540277255","https://openalex.org/W1570899238","https://openalex.org/W1900536115","https://openalex.org/W1950864686","https://openalex.org/W1975704392","https://openalex.org/W1979388897","https://openalex.org/W1981672423","https://openalex.org/W1997979881","https://openalex.org/W2000667835","https://openalex.org/W2001821181","https://openalex.org/W2002414950","https://openalex.org/W2002892304","https://openalex.org/W2006263594","https://openalex.org/W2009480107","https://openalex.org/W2009794136","https://openalex.org/W2014427499","https://openalex.org/W2024274726","https://openalex.org/W2024828917","https://openalex.org/W2028045844","https://openalex.org/W2032045505","https://openalex.org/W2034177094","https://openalex.org/W2035900439","https://openalex.org/W2036916152","https://openalex.org/W2037131394","https://openalex.org/W2041294387","https://openalex.org/W2042069201","https://openalex.org/W2042239418","https://openalex.org/W2069193149","https://openalex.org/W2070966985","https://openalex.org/W2077420526","https://openalex.org/W2078047435","https://openalex.org/W2084850449","https://openalex.org/W2085427933","https://openalex.org/W2094697451","https://openalex.org/W2095596789","https://openalex.org/W2096273483","https://openalex.org/W2101385552","https://openalex.org/W2103967448","https://openalex.org/W2105441954","https://openalex.org/W2110697127","https://openalex.org/W2111719926","https://openalex.org/W2116327256","https://openalex.org/W2116658855","https://openalex.org/W2120079537","https://openalex.org/W2122666990","https://openalex.org/W2122905397","https://openalex.org/W2126233790","https://openalex.org/W2134500855","https://openalex.org/W2135220207","https://openalex.org/W2140863829","https://openalex.org/W2146264527","https://openalex.org/W2150156359","https://openalex.org/W2152178585","https://openalex.org/W2154663637","https://openalex.org/W2157282469","https://openalex.org/W2159222770","https://openalex.org/W2162294897","https://openalex.org/W2163290657","https://openalex.org/W2164538772","https://openalex.org/W2165564615","https://openalex.org/W2166114707","https://openalex.org/W2166432619","https://openalex.org/W2171994365","https://openalex.org/W2172188934","https://openalex.org/W2280429408","https://openalex.org/W2303775563","https://openalex.org/W2472514056","https://openalex.org/W2525718045","https://openalex.org/W2553874547","https://openalex.org/W2588466573","https://openalex.org/W2625921109","https://openalex.org/W2726898022","https://openalex.org/W2732740969","https://openalex.org/W2735353703","https://openalex.org/W2788755901","https://openalex.org/W2800575047","https://openalex.org/W2802733177","https://openalex.org/W2889373600","https://openalex.org/W2892301014","https://openalex.org/W2894175064","https://openalex.org/W2900068493","https://openalex.org/W2911219184","https://openalex.org/W2927708963","https://openalex.org/W2953877441","https://openalex.org/W3092075271","https://openalex.org/W3109945360","https://openalex.org/W3161735053","https://openalex.org/W3166752885","https://openalex.org/W3169915734","https://openalex.org/W3197063636","https://openalex.org/W4200189903","https://openalex.org/W4214825562","https://openalex.org/W4233071312","https://openalex.org/W4239752430","https://openalex.org/W4288431990","https://openalex.org/W4309293784","https://openalex.org/W4365509112","https://openalex.org/W4376117628","https://openalex.org/W4378802691","https://openalex.org/W4385433676","https://openalex.org/W4385804316","https://openalex.org/W4388250061","https://openalex.org/W4392156358","https://openalex.org/W4399988450","https://openalex.org/W4401390694","https://openalex.org/W4402549746","https://openalex.org/W4403917765","https://openalex.org/W4409147637","https://openalex.org/W4409442923","https://openalex.org/W4410106866","https://openalex.org/W4414050916","https://openalex.org/W4415265697"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"How":[1],"does":[2],"the":[3,122,127,147,151,162,189,192,197,205,217],"sense":[4,19,193],"of":[5,109,146,188,191,194,204,216],"self":[6,182,195],"emerge":[7,80],"in":[8,116,166,196],"human":[9,198],"development,":[10],"and":[11,23,28,41,48,61,90,214],"could":[12],"an":[13],"artificial":[14],"system":[15],"acquire":[16],"a":[17,25,33,45,56,65,69,76,107,175,179],"similar":[18],"using":[20],"algorithmic":[21],"principles":[22],"given":[24],"suitable":[26],"embodiment":[27],"experience?":[29],"Here,":[30],"we":[31,54,72,105,143],"describe":[32],"machine":[34],"learning":[35,157],"framework,":[36],"inspired":[37],"by":[38,126,150],"developmental":[39],"psychology":[40],"neurobiology,":[42],"that":[43,138,155,183],"acquires":[44],"self\u2013world":[46,77,123],"distinction":[47,78,124],"minimal":[49,180],"self-model.":[50],"Unlike":[51],"previous":[52],"approaches,":[53],"introduce":[55],"gradual":[57],"formulation,":[58],"integrating":[59,169],"correlation-based":[60,82],"predictive":[62,119,156],"techniques":[63],"within":[64],"layered":[66],"architecture.":[67],"Using":[68],"simulated":[70],"humanoid,":[71],"show":[73],"first":[74],"how":[75,110],"can":[79,184],"through":[81],"self-supervision.":[83],"This":[84,118,200],"model":[85,108],"uses":[86,121],"dependencies":[87],"between":[88],"proprioception":[89],"vision":[91],"to":[92,132,211],"distinguish":[93],"its":[94,98],"own":[95],"body":[96],"from":[97],"surroundings":[99],"during":[100],"infant-like":[101],"motor":[102],"babbling.":[103],"Next,":[104],"construct":[106],"these":[111,170],"sensory":[112],"signals":[113],"will":[114],"evolve":[115],"time.":[117],"capacity":[120],"acquired":[125],"lower":[128,152,163],"layer":[129,149,164],"as":[130],"input":[131],"neural":[133],"ordinary":[134],"differential":[135],"equation":[136],"models":[137],"learn":[139],"continuous":[140],"dynamics.":[141],"Finally,":[142],"demonstrate":[144],"scaffolding":[145],"higher":[148],"one,":[153],"showing":[154],"occurs":[158],"more":[159],"rapidly":[160],"with":[161],"already":[165],"place.":[167],"By":[168],"mechanisms,":[171],"our":[172,186],"approach":[173],"offers":[174],"framework":[176],"for":[177],"characterizing":[178],"robotic":[181],"inform":[185],"understanding":[187],"emergence":[190],"mind/brain.":[199],"article":[201],"is":[202],"part":[203],"discussion":[206],"meeting":[207],"issue":[208],"\u2018From":[209],"being":[210],"identity:":[212],"analysis":[213],"synthesis":[215],"self\u2019.":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-11-11T00:00:00"}
