ALife in Humanoid Robots #ecal2013
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#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
http://Juxi.net/projects
robotics.idsia.ch