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ALife in Humanoid Robots #ecal2013

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#ecal2013
ALife in
humanoid robots
istituto dalle molle di studi sull’intelligenza artificiale
università della svizzera it...
manipulation
our iCub
setup is for
object manipulation
towards learning
http://robotics.idsia.ch/

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ALife in Humanoid Robots #ecal2013

  1. 1. #ecal2013 ALife in humanoid robots istituto dalle molle di studi sull’intelligenza artificiale università della svizzera italiana idsia / usi / supsi Jürgen ’Juxi’ Leitner
  2. 2. manipulation our iCub setup is for
  3. 3. object manipulation towards learning http://robotics.idsia.ch/
  4. 4. framework ALife Fitness Evaluation Population Individualnew observations
  5. 5. perception visual thanks to G. Metta and IIT for this picture
  6. 6. Harding et al., 2013 Leitner et al., ICDL 2012,ARS 2012, BICA 2012, CEC 2013objectsdetecting
  7. 7. cartesian genetic programming + mindilate avgINP INP INP
  8. 8. transferring spatial perception
  9. 9. setup learning
  10. 10. trainingset 9DOF iCub bounding box 6 per eye Cartesian Coordinates . . .
  11. 11. spatial perception neural network . . . 9DOF iCub boundingbox 6pereye Cartesian Coordinates fullyconnected fullyconnected . . .
  12. 12. MoBeE framework Frank et al., 2012. MoBeE
  13. 13. exploration reflexive
  14. 14. generation motion Stollenga et al, 2013 Shakey2013Winner
  15. 15. cognitionhigher what do we want in robots?! what does that mean!? http://www.drsheedy.com/our-2-minds/cognitive-hierarchy-and-the-sensory-mind.php
  16. 16. workfuture eye-hand coordination sensori-motor integration improving online, continuous learning active vision action outcome
  17. 17. for listening thanksjuxi@idsia.ch http://Juxi.net/projects robotics.idsia.ch

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