Post on 21-Dec-2014
description
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From Vision to Actionstowards adaptive & autonomous robots
Juxi Leitneristituto dalle molle di studi sull’intelligenza artificiale
idsia / supsi / usi
adaptive
adapt |əәˈdapt|verb [ with obj. ]
[...]• [ no obj. ] become adjusted to new conditions: a large organization can be slow to adapt to change.
[...]
adaptive
autonomousautonomous |ɔːˈtɒnəәməәs|adjective
(of a region) having the freedom to govern itself or control its own affairs: the federation included sixteen autonomous republics.
• having the freedom to act independently: school governors are legally autonomous.
[...]
autonomous
robotics
thanks to G. Metta, IIT and U.Plymouth for their pictures
iCub[Metta et al., 2010]
manipulationaimed at
[Metta et al., 2010]
SOLVED” CHESS is“
object manipulationtowards learned
http://robotics.idsia.ch/
PhD Projectparts
perceptionvisual
robust objectdetection[Leitner et al, 2012a/b, Harding et al., 2013]
cv approachescurrent
cartesian genetic programming
+ min dilate avg INP INP INP
[Leitner et al, 2012a/b, Harding et al., 2013]
detection
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; }
visualhand detection
[Leitner et al, 2013]
handsdetecting
locate
localisation approachescurrent
[P2,1] * F * [P1,1]' = 0
transferringspatial perception
[Leitner et al, IROS2012]
trainingset
9DOF
iCubbounding box
6 per eye Carte
sian
Coor
dinate
s
..
.
spatial perception
...
9DO
FiC
ubbo
undi
ng b
ox6
per e
ye
Cart
esian
Coor
dina
tes
fully
con
nect
ed
fully
con
nect
ed
...
neural network[Leitner et al, IJCNN 2013]
resultsANN
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[Leitner et al, IJCNN 2013]
model update[Leitner et al, IJARS 2012, BICA 2013]
motion
robot
motion
robot
[Stollenga et al, IROS 2013]
MoBeE v1[Frank et al., 2011,2012, 2013]
model
explorationroadmap
useful actionsgenerating
[Stollenga et al., IROS 2013]
repertoireaction
repertoireaction[Leitner et al, in prep]
q’ = J(q) ¹ v
hand/armop-space forcing
CSWorld
CSHand
CSR/CSL
[Leitner et al, in prep]
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coordinationhand-eye
action perception loop
firstintegration
[Leitner et al, in prep]
workfuture
human-robot interaction
sensorimotor integration
improving online, continuous learning
active vision/learning
action outcome/prediction
post PhD
youthank
http://dilbert.com/strips/comic/2013-10-24/
requirementsUSI PhD
Teachingbreadth (15 ECTS)
publications
after 30 months:
publications
robotics conference papersspace robotics conference paper
robotics journal paper
outreach &
IROS, EpiRob
iSAIRAS
IJARS
AI/ML conference papersjournal publications
GP book chapter
IJCNN, CEC, BICA
BICA, Acta Futura
+ journal papers in preparation Frontiers, RAS, CSEd
publicationsoutreach &