NeuroRobotics Related Publications 


  • Coordinated representational reinstatement in the human hippocampus and lateral temporal cortex during episodic memory retrieval. Pacheco, D., Sanchez-Fibla, M., Duff, A., Principe, A., Rocamora R., Zhang H., Axmacher, N., Verschure, P.  Nature Communications, Vol 10 Issue 1 nº 2255, Nature Publishing Group, 2019 (link)

  • From motor to visually guided bimanual affordance learning. Sanchez-Fibla, M., Forestier, S., Moulin-Frier, C., Puigbò, J-Y., Verschure, P. Adaptive Behavior. P1-16, Sage Pub. 2019 (link).

  • Speeding up Reinforcement Learning by combining attention and agency features. Demirel, B.,  Sanchez-Fibla, M. The 22th International Conference of the Catalan Association for Artificial Intelligence, CCIA 2019.

  • Individual specialization in multi-task environments with multiagent reinforcement learners. Gasparrini, M, Solé, R., Sanchez-Fibla, M. The 22th International Conference of the Catalan Association for Artificial Intelligence, CCIA 2019.


  • Loss aversion fosters coordination in independent reinforcement learners. Gasparrini, M & Sanchez-Fibla, M. The 21th International Conference of the Catalan Association for Artificial Intelligence, CCIA 2018.

  • Modeling the Formation of Social Conventions in Multi-Agent Populations. Freire, I. T., Moulin-Frier, C., Sanchez-Fibla, M., Arsiwalla, X. D., & Verschure, P. preprint arXiv:1802.06108 2018

  • Measuring collaboration in a predictive game task: a comparison between autistic and neurotypical individuals using the Point of Social Subjective Equality.  Blancas M., Maffei G, Vouloutsi V, Sanchez-Fibla, M. and Verschure, P. Social cognition in humans and robots SocSMC UKE, Workshop. September 2018

  • Chromatic transitions in the emergence of syntax networks. Corominas-Murtra, B, Sanchez-Fibla, M., Valverde S. & Solé, R. The Royal Society Open Science. Vol 5, Num 12, pages 181286 (link) arXiv preprint 1807.091942018.


  • The perceptual shaping of anticipatory actions. Maffei, G., Herreros, I., Sanchez-Fibla, M., Friston, K. J., & Verschure, P. F.  In Proc. R. Soc. B (Vol. 284, No. 1869, p. 20171780). The Royal Society. December 2017.
  • A Spatial-Context Effect in Recognition Memory. Pacheco, D., Sánchez-Fibla, M., Duff, A., & Verschure, P. F. Frontiers in behavioral neuroscience11, 143. 2017,
  • Adaptively Learning levels of coordination from one’s, other’s and task-related errors through a cerebellar circuit: a dual cart-pole setup. Sánchez-Fibla, Maffei, & Verschure. The 26th International Conference on Artificial Neural Networks, ICANN 2017.
  • Social sensorimotor contingencies: Towards Theory of Mind in synthetic agents. Sánchez-Fibla, Moulin-Frier, Arsiwalla & Verschure. The 20th International Conference of the Catalan Association for Artificial Intelligence, CCIA 2017.
  • A sensorimotor account of visual and tactile integration for depth perception: an iCub robot experiment. Sánchez-Fibla, Moulin-Frier, & Verschure. The International Conference on Development and Learning, ICDL-Epirob 2017.
  • Embodied Artificial Intelligence through Distributed Adaptive Control: An Integrated Framework. Moulin-Frier, Ysard, Arsiwalla, Sanchez-Fibla & Verschure. The International Conference on Development and Learning, ICDL-Epirob. 2017.
  • The Morphospace of Consciousness.  Arsiwalla, Moulin-Frier, Herreros, Sanchez-Fibla & Verschure. arXiv preprint:1705.11190, 2017.


  • Is Consciousness a control process? Arsiwalla, Herreros, Moulin-Frier, Sánchez-Fibla & Verschure. The 19th International Conference of the Catalan Association for Artificial Intelligence, CCIA 2016. Frontiers in Artificial Intelligence and Applications. Volume 288. Pages 233 – 238. Artificial Intelligence Research and Development, 2017.
  • Anticipatory actions: anticipated motor commands or reactions to sensory predictions? Maffei, Herreros, Sánchez-Fibla & Verschure. Brains and Bits Workshop at NIPS 2016.
  • Top-Down and Bottom-Up Interactions between Low-Level Reactive Control and Symbolic Rule Learning in Embodied Agents. Clément Moulin-Frier, Xerxes D. Arsiwalla, Jordi-Ysard Puigbò, Martí Sanchez-Fibla, Armin Duff, Paul FMJ Verschure. Proceedings of CoCo at NIPS 2016 – Workshop on Cognitive Computation – Combining Neural and Symbolic Approaches, CEUR Workshop Proceedings 1773, Paper
  • Plasticity in the Granular Layer Enhances Motor Learning in a Computational Model of the Cerebellum. Maffei, Herreros, Sánchez-Fibla & Verschure. Artificial Neural Networks and Machine Learning, ICANN 2016. part I, LNCS 9886.
  • Learning to Balance While Reaching: A Cerebellar-Based Control Architecture for a Self-balancing Robot. Ruck, Herreros, Maffei, Sánchez-Fibla & Verschure. Living Machines. Conference on Biomimetic and Biohybrid Systems. Springer International Publishing, 2016. LNCS.


  • Skill refinement through cerebellar learning and human haptic feedback: An iCub learning to paint experiment. Ysard Puigbo, Moulin-Frier, Vouloutsi, Sánchez-Fibla, Herreros & Verschure P. F. M. J. (2015). Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference. Paper
  • An embodied biologically constrained model of foraging: from classical and operant conditioning to adpative real-world bejavior in DAC-X. Maffei, Santos-Pata, Marcos, Sánchez-Fibla & Verschure P. F. M. J. (2015). Neural Networks 72, 88-108. Paper
  • Autonomous development of turn-taking behaviors in agent populations: a computational study. Moulin-Frier, Sánchez-Fibla & Verschure P. F. M. J. (2015). Development and Learning and Epigenetic Robotics (ICDL-EpiRob) Paper
  • Action-Oriented Models of Cognitive Processing: A Little Less Cogitation, A Little More Action Please.  Contributors: Sanchez-Fibla amog others. Appeared In “The Pragmatic Turn: Toward Action-Oriented Views in Cognitive Science. “, edited by Andreas K. Engel, Karl J. Friston and Danica Kragic.(2015). MIT Press. DOI:10.7551/mitpress/9780262034326.003.0010


  • The role of a cerebellum-driven perceptual prediction within a robotic postural task.  Maffei, G., Sánchez-Fibla, Herreros, I., M. & Verschure P. F. M. J. (2014).  Simulating Adaptive Behavior, (SAB) Conference 2014. Paper
  • Acquisition of synergistic motor responses through cerebellar learning in a robotic postural task. Maffei, G., Sánchez-Fibla, Herreros, I., M. & Verschure P. F. M. J. (2014). Living Machines Conference 2014.


  • Speed generalization capabilities of a cerebellar model on a rapid navigation task. Herreros, I., Maffei, G., Brandi, S., Sánchez-Fibla, M. & Verschure P. F. M. J. (2013).  Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference. Paper.
  • A Sensorimotor Account of Visual and Tactile Integration for Object Categorization and Grasping. Sánchez-Fibla, M., Duff A., & Verschure P. F. M. J. (2013).   IEEE International Conference on Robotics and Automation (ICRA) 2013
  • Acquisition of Anticipatory Postural Adjustment through Cerebellar Learning in a Mobile Robot.  Giovanni Maffei, Ivan Herreros, Sánchez-Fibla, M. & Verschure P. F. M. J. Living Machines Conference. Springer LNCS (2013).
  • Learning of Motor Sequences Based on a Computational Model of the Cerebellum. Santiago Brandi, Ivan Herreros, Sánchez-Fibla, M. & Verschure P. F. M. J. Living Machines Conference. Springer LNCS (2013).


  • Generalization of Integrator Models to Foraging: A Robot Study Using the DAC9 Model. Marcos, E., Duff, A., Sánchez-Fibla M., & Verschure P. F. M. J. (2012). Living Machines LNCS 7375, 156-167.
  • Internal Drive Regulation of Sensorimotor Reflexes in the Control of a Catering Assistant Autonomous Robot. Rennó-Costa, C., Luvizotto A. L., Betella A., Sánchez-Fibla M., & Verschure P. F. M. J. (2012).   Living Machines, LNCS 7375, 238-249. 


  • A biomimetic robot controller based on minimizing the unpredictability of the environment: allostatic control revised. Sánchez-Fibla, M., Duff A., Bernardet U., & Verschure P. F. M. J. (2011).  European Conference on Artificial Life – ECAL 2011
  •  A biologically based model for the integration of sensory-motor contingencies in rules and plans: A prefrontal cortex based extension of the Distributed Adaptive Control architecture. Duff, A., Sánchez-Fibla M., & Verschure P. F. M. J (2011)  Brain Research Bulletin. 85(5), 289-304. 2011. Download PDF
  • Integrating Neuroscience-based Models Towards an Autonomous Biomimetic Synthetic. Rennó-Costa, C., Luvizotto A., Marcos E., Duff A., Sánchez-Fibla M., & Verschure P. F. M. J. (2011).  2011 IEEE International Conference on RObotics and BIOmimetics (IEEE-ROBIO 2011).
  • The acquisition of intentionally indexed and object centered affordance gradients : a biomimetic controller and mobile robotics benchmark. Sánchez-Fibla, M., Duff A., & Verschure P. F. M. J. (2011).  Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference. Download PDF


  • Allostatic Control for Robot Behavior Regulation: a Comparative Rodent-Robot Study. Sánchez-Fibla, M., Bernardet U., Wasserman E., Pelc T., Mintz M., Jackson J. C., et al. (2010).  Advances In Complex Systems. 13(3), 26. Download pdf
  • Allostatic Control for Robot Behaviour Regulation: an extension to path planning. Sánchez-Fibla, M., Bernardet U., & Verschure P. F. M. J. (2010).   IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010). Download pdf
  • The complementary roles of allostatic and contextual control systems in foraging tasks. Marcos, E., Sánchez-Fibla M., & Verschure P. F. M. J. (2010).   From Animals to Animats 11. 6226, 370-379.
  • Distributed Adaptive Control: A proposal on the neuronal organization of adaptive goal oriented behavior. Duff, A., Rennó-Costa C., Marcos E., Luvizotto A., Giovannucci A., Sánchez-Fibla M., et al. (2010).   (Sigaud, O. , Peters, J., Ed.). From Motor Learning to Interaction Learning in Robots. 15-41.
  • From continuous analog to discrete symbolic representations of the world in optimal foraging : a robot based study. Marcos, E., Sánchez-Fibla M., & Verschure P. F. M. J. (2010).   The 4th International Conference on Cognitive Systems . 425.  Download PDF
  • The neuronal substrate underlying order and interval representations in sequential tasks: a biologically based robot study. Marcos, E., Duff A., Sánchez-Fibla M., & Verschure P. F. M. J. (2010).  International Joint Conference on Neural Networks.

Before 2010 I’ve been active in the field of Optimization.

NeuroRobotics Educational Activities

Tools for Prototyping Robotics Simulations

  An easy to prototype simulation environment has been developed. The simulation can be controlled from any client via Open Sound Control (OSC), Fisica and OscP5 libraries.simulationtriptic