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Jürgen ’Juxi’ Leitner S. Harding, M. Frank, A. Förster, J. Schmidhuber istituto dalle molle di studi sull’intelligenza artificiale università della svizzera italiana idsia / usi / supsi transferring spatial perceptionbetween robots operating in a shared workspace #iros 2012

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our iCub setup is formanipulation

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visual perceptionHarding et al., GPTP 2012, Leitner et al., ICDL 2012 IROS 2012

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currentlocalisation approaches

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learning approach+

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transferringspatial perception

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COLLISIONS ARE BAD

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MoBeEframework Frank et al., ICINCO, 2012.

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MoBeEframework Frank et al., ICINCO, 2012.

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9DOF bounding box iCub 6 per eye . . . fully connected . . . fully connected Cartesian Coordinates spatial perceptionneural network

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600 400 -200 550 300 -300 500 200 -400 450 100 -500 0 -600 400 Y (mm) X (mm) Z (mm) -100 -700 350 -200 -800 300 -300 -900 250 -400 -1000 200 -500 -1100 150 -600 Predicted -1200 Expected 100 -700 -1300 0 200 400 600 800 1000 0 200 400 600 800 1000 0 Sample Index Sample Index -200 -300 -400 -500 -600Z (mm) -700 -800 -1000 -900 results ANN -1100 -1200 -1300 0 200 400 600 800 1000 Sample Index

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spatial perceptionneural network

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future work unsupervised learning different spatial representations “intrinsic motivation” learning online, continuous learning eye-hand coordination

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thanks for listening juxi@idsia.ch http://Juxi.net/projectsvideo at http://Juxi.net/projects/im-clever/year3.html