Österdiekhoff, A., Heinrich, N., Russwinkel, N., & Kopp, S. (2023). Towards an hierarchical model-based reinforcement learning approach to dynamic decision-making in uncertain environment. In 15th International Conference on Agents and Artificial Intelligence, ICAART 2023, Lisbon, Portugal, February 22-24, 2023.


van Oostrum, J., Müller, J. & Ay, N. Invariance properties of the natural gradient in overparametrised systems. Info. Geo. (2022).

Hafner, V., Hommel, B., Kayhan, E, Lee, D., Paulus, M., & Verschoor, S. (2022). Editorial: The Mechanisms Underlying the Human Minimal Self. Frontiers in Psychology, 13, 961480. doi: 10.3389/fpsyg.2022.961480

Kahl, S., Wiese, S., Russwinkel, N., & Kopp, S. (2022). Towards autonomous artificial agents with an active self: modeling sense of control in situated action. Cognitive Systems Research, 72, 50-62.

Jahanian Najafabadi, Amir; Küster, Dennis; Putze, Felix; Godde, Ben.(2022a). Emergence of sense of body ownership but not agency during virtualtool-use training is associated with an altered body schema. Preprint,  

Jahanian Najafabadi, Amir; Küster, Dennis; Putze, Felix; Godde, Ben.(2022b). Tool-use training in augmented reality: Plasticity offorearm body schema does not predict sense of ownership or agency in older adults, Preprint,


Langer, C & Ay, N. (2021). How Morphological Computation Shapes Integrated Information in Embodied Agents. Frontiers in Psychology, Volume 12 – 2021 |

Tim Julian Möller, Yasmin Kim Georgie, Guido Schillaci, Martin Voss, Verena Vanessa Hafner, Laura Kaltwasser (2021). Computational models of the “active self” and its disturbances in schizophrenia, Consciousness and Cognition, Volume 93, 2021, 103155, ISSN 1053-8100,

Eppe, M., Hafner, V.V., Nagai, Y., Wermter, S. (Eds.) (2021). Editorial. Special Issue on Developmental Robotics. KI – Künstliche Intelligenz. Vol. 35, Issue 1. German Journal of Artificial Intelligence. Springer.

Ay, N. Confounding Ghost Channels and Causality: A New Approach to Causal Information Flows. Vietnam J. Math. 49, 547–576 (2021).

Boyadzhieva, A., & Kayhan, E. (2021). Keeping the Breath in Mind: Respiration, Neural Oscillations, and the Free Energy Principle. Frontiers in Neuroscience, 15, 647579. doi: 10.3389/fnins.2021.647579.

Musculus, L., Tünte, M. R., Raab, M., & Kayhan, E. (2021). An embodied cognition perspective on the role of interoception in the development of the minimal self. Frontiers in Psychology, 12, 716950. doi: 10.3389/fpsyg.2021.716950.

Musculus, L., Ruggeri, A., & Raab, M. (2021). Movement matters! Understanding the developmental trajectory of embodied planning. Frontiers in Psychology12, 957.

Ma, K., Qu, J., Yang, L., Zhao, W., & Hommel, B. (accepted). Explicit and implicit measures of body ownership and agency: Affected by the same manipulations and yet independent. Experimental Brain Research.

Grewe CM, Liu T, Kahl C, Hildebrandt A and Zachow S (2021) Statistical Learning of Facial Expressions Improves Realism of Animated Avatar Faces. Front. Virtual Real. 2:619811.

Nguyen, P.D.H., Georgie, Y.K., Kayhan, E., Eppe, M., Hafner, V.V. and Wermter, S. (2021). Sensorimotor representation learning for an “active self” in robots: A model survey. KI – Künstliche Intelligenz. German Journal of Artificial Intelligence. Special Issue: Developmental Robotics. 01/2021. Springer. DOI 10.1007/s13218-021-00703-z

Ciria, A., Schillaci, G., Pezzulo, G., Hafner, V.V. & Lara, B. (2021). Predictive Processing in Cognitive Robotics: a Review. Neural Computation (2021) 33 (5): 1402–1432.

Jahanian Najafabadi, A., Küster, D., Putze, F., Godde, B. (2021). Tool-use Training in Augmented Reality: Effects on tactile localization of tactile stimuli on the fingers and associated cortical processing as revealed with EEG. The 63 Tagung experimentell arbeitender Psychologen (TeaP) Conference. ULM, Germany, Accepted.

Godde, B ., Küster, D., Putze, F., Jahanian Najafabadi, A. (2021). Learning Induced Changes in Cortical Resting-State and Task-Related EEG During and After Virtual Tool-use Training. The 63 Tagung experimentell arbeitender Psychologen (TeaP) Conference. ULM, Germany, Accepted.


Zhang, X., Ma, K., & Hommel, B. (2021). Enfacing a female reduces the gender-science stereotype in males. Attention, Perception, & Psychophysics.

Jahanian Najafabadi, A., Küster, D., Putze, F., Hunter, M., Godde, B. (2020). Tool-use training in augmented reality: Changes on forearm body schema and somatosensory representation. FENS Forum of Neuroscience Conference, Glasgow/Virtual, Scotland.   

Bekrater-Bodmann, R. (2020). Perceptual correlates of successful Body-prosthesis interaction in lower limb amputees: psychometric characterisation and development of the Prosthesis Embodiment Scale. Scientific Reports10, 14204

Bekrater-Bodmann, R., Reinhard, I., Diers, M., Fuchs, X., & Flor, H. (2020). Relationship of prosthesis ownership and phantom limb pain: results of a survey in 2,383 limb amputees. Pain

Elsner, B., & Adam, M. (2020). Infants’ goal prediction for simple action events: The role of experience and agency cues. Topics in Cognitive Science

Hafner, V.V., Loviken, P., Pico Villalpando, A., Schillaci, G. (2020). Prerequisites for an Artificial Self. Frontiers in Neurorobotics. Vol. 14, p.5. doi:10.3389/fnbot.2020.00005. ISSN 1662-5218.

Ay, N. On the locality of the natural gradient for learning in deep Bayesian networks. Info. Geo. (2020).

Kerzel, M., Abawi, F., Eppe, M., & Wermter, S. (2020). Enhancing a Neurocognitive Shared Visuomotor Model for Object Identification, Localization, and Grasping With Learning From Auxiliary Tasks. IEEE Transactions on Cognitive and Developmental Systems, 1–1

Küster, D., & Swiderska, A. (2020). Seeing the mind of robots: Harm augments mind perception but benevolent intentions reduce dehumanisation of artificial entities in visual vignettes. International Journal of Psychology

Küster, D., Swiderska, A., & Gunkel, D. (2020). I saw it on YouTube! How online videos shape perceptions of mind, morality, and fears about robots. New Media & Society, 146144482095419

Ay, N., Polani, D., & Virgo, N. (2020). Information decomposition based on cooperative game theory. Kybernetika, 56 no. 5, 979-1014, 10.14736/kyb-2020-5-0979

Langer, C., & Ay, N. (2020). Complexity as Causal Information Integration. Entropy, 22(10), 1107. doi:10.3390/e22101107

Liesner, M., Kirsch, W., & Kunde, W. (2020). The interplay of  predictive and postdictive components of experienced selfhood.  Consciousness and Cognition, 77, 102850

Liesner, M., Kirsch, W., Pfister, R., & Kunde, W. (2020). Spatial  action–effect binding depends on type of action–effect transformation.  Attention, Perception, & Psychophysics, 82, 2531-2543

Putze, S., Alexandrovsky, D., Putze, F., Höffner, S., Smeddinck, J. D., & Malaka, R. (2020). Breaking The Experience: Effects of Questionnaires in VR User Studies. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems (pp. 1-15).TeaP2021_Resting state and Task related EEG_PALMS_2021 Teap2021_ERP and TLT-PALMS_ 2021 #4183_ Tool-use training in augmented reality_ Changes on forearm body schema and somatosensory.._

Putze, F., Küster, D., Urban, T., Zastrow, A., & Kampen, M. (2020). Attention Sensing through Multimodal User Modeling in an Augmented Reality Guessing Game. In Proceedings of the 22nd International Conference on Multimodal Interfaces, Utrecht/Virtual, The Netherlands.

Röder, F., Eppe, M., Nguyen, P. D. H., & Wermter, S. (2020). Curious Hierarchical Actor-Critic Reinforcement Learning. International Conference on Artificial Neural Networks (ICANN)

Seiler, J., Schäfer, N., Latsch, B., Chadda, R., Hessinger, M., Beckerle, P., & Kupnik, M. (2020). Wearable Vibrotactile Interface Using Phantom Tactile Sensation for Human-Robot Interaction. In I. Nisky, J. Hartcher-O’Brien, M. Wiertlewski, J. Smeets (Eds.), Haptics: Science, Technology, Applications (pp. 380-388). EuroHaptics 2020. Springer, Cham.


Eppe, M., Nguyen, P. D. H., & Wermter, S. (2019). From semantics to execution: Integrating action planning with reinforcement learning for robotic causal problem-solving. Frontiers in Artificial Intelligence and Robotics, 11.

Georgie, Y.K., Schillaci, G. and Hafner, V.V (2019). An interdisciplinary overview of developmental indices and behavioral measures of the minimal self. 2019 Joint IEEE 9th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob). Oslo, Norway. pp. 129-136.

Rothgangel, A., & Bekrater-Bodmann, R. (2019). Mirror therapy versus augmented/virtual reality applications: towards a tailored mechanism-based treatment for phantom limb pain. Pain Management9(2), 151-159.

Schmid, K., Vitay, J., & Hamker, F. (2019). Forward Models in the Cerebellum using Reservoirs and Perturbation Learning. 2019 Conference on Cognitive Computational Neuroscience. 

Associated Projects Publications

Schillaci, G., Ciria, A., Lara, B., (2020) Tracking Emotions: Intrinsic Motivation Grounded on Multi-Level Prediction Error Dynamics. 10th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob)

von Salm-Hoogstaeten, S., Bolzius, K., Müssler, J. (2020). Seeing the world through the eyes of an avatar? Comparing perspective taking and referential coding. Journal of Experimental Psychology: Human Perspective and Performance, 46(3), 264-273

Böffel, C., Müssler, J.,(2020, March) Taking time to take perspective? Rapidly changing reference frames in the avatar-Simon task. Acta Psychologica, 204

Böffel, C., Müsseler, J., (2019) Action effect consistency and body ownership in the avatarSimon task. PLoS ONE 14(8): e0220817.