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Transferring Spatial Perception Between Robots Operating In A Shared Workspace

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The presentation of our research paper at the 2012 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS).
The paper "Transferring Spatial Perception Between Robots Operating In A Shared Workspace" can be found at http://Juxi.net/papers

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Transferring Spatial Perception Between Robots Operating In A Shared Workspace

  1. 1. 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
  2. 2. our iCub setup is formanipulation
  3. 3. visual perceptionHarding et al., GPTP 2012, Leitner et al., ICDL 2012 IROS 2012
  4. 4. currentlocalisation approaches
  5. 5. learning approach+
  6. 6. transferringspatial perception
  7. 7. COLLISIONS ARE BAD
  8. 8. MoBeEframework Frank et al., ICINCO, 2012.
  9. 9. MoBeEframework Frank et al., ICINCO, 2012.
  10. 10. 9DOF bounding box iCub 6 per eye . . . fully connected . . . fully connected Cartesian Coordinates spatial perceptionneural network
  11. 11. 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
  12. 12. spatial perceptionneural network
  13. 13. future work unsupervised learning different spatial representations “intrinsic motivation” learning online, continuous learning eye-hand coordination
  14. 14. thanks for listening juxi@idsia.ch http://Juxi.net/projectsvideo at http://Juxi.net/projects/im-clever/year3.html

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