Working papers on human-centered world models, written around a patent-disclosed four-actuator closed-loop testbed. Pre-arXiv.
Positions the underlying patents inside the LeCun JEPA family and introduces HCWM (Human-Centered World Model) as a structurally distinct construct, anchored in active-inference notation and instantiated as a four-actuator EtherCAT testbed running a 100 Hz hard-real-time loop. The argument is that architectures learning from observation alone omit the one signal a machine obtains only by touching a person — a body that pushes back, tires and compensates.
Download PDF · current version · 374 KBVersion 0.5 adds an examined-prior-art section: the sixteen documents cited against the two patent families, read in full.
Two kinds of address, on purpose. /papers/HCWM-Substrate-Gap.pdf always resolves to the current version — that is the one to bookmark or cite in a reading list. It forwards to the versioned file, so what you actually download still carries its version number. Each version additionally keeps a permanent address of its own (v0.5, v0.4.8 of 28 June 2026): once an address has gone out in correspondence, what sits behind it never changes.
A world model that asks not “did the patient move?” but “would this movement still hold under changed conditions?” — do-operator counterfactuals in latent space.
Both extend the same patent-disclosed substrate. They are not posted here because their acknowledgements are still pending contributor consent. Write and you will get them: joeri@gredig.swiss.
EP 2 364 686 B1 — training device; granted 11 March 2015, term to 11 March 2030.
PCT/EP2024/076634 — training device and pedal device; priority 27 September 2023,
filed 23 September 2024, regional and national phases pending.
Both held by Swissrehamed GmbH.
The prior art cited against these two families has been read in full: D1–D4 of the pending European examination (US 7,727,125 · US 9,044,630 · US 9,802,076 · US 11,311,772), the applicant’s own EP 2 364 686 B1 — cited by the examiner as category A — and eleven further documents from that patent’s search report and grant.
In none of the sixteen is the relative position of the limbs measured. Where a relation between limbs exists at all, it is mechanically imposed — a common shaft, index rings, cables, a locking pin — or electronically commanded at a fixed offset. A commanded angle cannot follow the person; a measured one can. That distinction is what the substrate rests on.
European examination is ongoing. The above is the applicant’s reading of the cited art, not a finding of the office.
R. Riener (Ed.), AI to Eye — Between Code and Conscience, vdf Hochschulverlag Zürich, 2026 (ISBN 978-3-7281-4228-3) · H. van der Kooij, …, R. Riener, “AI in therapeutic and assistive exoskeletons and exosuits”, Science Robotics 10(104), 2025, DOI 10.1126/scirobotics.adt7329.
Riener's work articulates the same axes from an independent position — predict-then-realize, and closing the loop between prediction and realization, grounded in embodiment.