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n this work we introduce a technique for a hu- manoid robot to autonomously learn the representations of objects in its visual environment. Our approach involves feature- based segmentation of the images followed by learning to identify the object using Cartesian Genetic Programming. The learned identification is able to provide robust and fast segmentation of the objects, without using features. To allow for autonomous learning an attention mechanism is coupled with the training process. We showcase our system on a humanoid robot.