alife in humanoid robots #ecal2013

#ecal2013

ALife inhumanoid robots

istituto dalle molle di studi sull’intelligenza artificialeuniversità della svizzera italiana

idsia / usi / supsi

Jürgen ’Juxi’ Leitner

manipulation

our iCubsetup is for

object manipulationtowards learning

http://robotics.idsia.ch/

frameworkALife

FitnessEvaluation

Population

Individualnew observations

perceptionvisual

thanks to G. Metta and IIT for this picture

Harding et al., 2013Leitner et al., ICDL 2012, ARS 2012, BICA 2012, CEC 2013objectsdetecting

cartesian genetic

programming

+ min dilate avg INP INP INP

transferringspatial perception

setuplearning

trainingset

9DOF

iCubbounding box

6 per eye Carte

sian

Coor

dinate

s

..

.

spatial perception neural network

...

9DO

FiC

ubbo

undi

ng b

ox6

per e

ye

Cart

esian

Coor

dina

tes

fully

con

nect

ed

fully

con

nect

ed

...

MoBeEframework Frank et al., 2012.

MoBeE

explorationreflexive

generationmotionStollenga et al, 2013

Sh

ak

ey 2

01

3 W

inn

er

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

workfuture

eye-hand coordination

sensori-motor integration

improving online, continuous learning

active vision

action outcome

for listeningthanksjuxi@idsia.ch

http://Juxi.net/projects

robotics.idsia.ch