idsia's presentation im-clever, wp4
DESCRIPTION
This is the presentation of IDSIA's contribution to the work package 4 of the IM-CLeVeR EU Project Review.www.im-clever.euTRANSCRIPT
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Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner 1
D4.2 Learning to Model the World
Leitner J, Harding S, Kompella V, Gisslen L, Frank M, Luciw M, Graziano V, Pape L, Förster A, Schmidhuber J
Affiliation: IDSIA/SUPSI/USI
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2
Learning to Model the World
Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner
2 approaches developed:
• Adaptive Abstraction for Prediction ! WP5
• Computer Vision & Machine Learning
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3 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner
frameworkicVision
MoBeE
icVision: A Modular Vision System for Cognitive Robotics Research. J. Leitner, S. Harding, M. Frank, A. Förster and J. Schmidhuber. 5th International Conference on
Cognitive Systems (CogSys). Vienna, Austria. February 2012.
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Input Target Evolved filter
detect
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approachlearning
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6 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner
detecting
cartesian genetic
programming
!" #$%"&$'()*" (+,"-./" -./" -./"
Cartesian Genetic Programming for Image Processing (CGP-IP). S. Harding, J. Leitner and J. Schmidhuber. Chapter In Genetic Programming Theory and Practice X, 2012 (in
press)
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7 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner
detect
icImage* BlueCupDetector::runFilter() { ! icImage* node0 = new GpImage(-8.2, ImgW, ImgH);! icImage* node1 = InputImages[4];! icImage* node2 = node0->avg(node1);! icImage* node4 = node2->threshold(64);! icImage* node6 = node4->erode(5);! icImage* node42 = node6->SmoothMedian(5);! icImage* node79 = node42->gauss(9);! icImage* node99 = node79->dilate(5);
//cleanup ...! return node99; }
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8 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner
FIAS&IDSIA Integration
...
Atte
ntio
n
Feature Segm.
CGP-IP
Autonomous Learning Of Robust Visual Object Detection And Identification On A Humanoid. J. Leitner et al. under review for IEEE Conference on Development and Learning (ICDL) and Epigenetic Robotics (EpiRob) (2012)
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9 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner
neural networkspatial perception
Transferring Spatial Perception Between Robots Operating In A Shared Workspace. J. Leitner et al. International Conference on Intelligent Robots and Systems (IROS). 2012.
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10 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner
Integration
The Modular Behavioral Environment for Humanoids & other Robots (MoBeE). Mikhail Frank, et al. International Conference on Informatics in Control, Automation
and Robotics (ICINCO). 2012.
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11 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner