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 perception
between robots operating
in a shared workspace
#iros 2012

2.
our iCub
setup is for
manipulation

3.
visual perception
Harding et al., GPTP 2012, Leitner et al., ICDL 2012 IROS 2012

4.
current
localisation approaches

5.
learning
approach
+

6.
transferring
spatial perception

7.
COLLISIONS ARE
BAD

8.
MoBeE
framework
Frank et al., ICINCO, 2012.

9.
MoBeE
framework
Frank et al., ICINCO, 2012.

10.
9DOF bounding box
iCub 6 per eye
.
.
.
fully connected
.
.
.
fully connected
Cartesian
Coordinates
spatial perception
neural network

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
-600
Z (mm)
-700
-800
-1000
-900
results
ANN
-1100
-1200
-1300
0 200 400 600 800 1000
Sample Index

12.
spatial perception
neural network

13.
future
work
unsupervised learning
different spatial representations
“intrinsic motivation” learning
online, continuous learning
eye-hand coordination

14.
thanks
for listening
juxi@idsia.ch http://Juxi.net/projects
video at http://Juxi.net/projects/im-clever/year3.html