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

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

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.

Input Target Evolved filter

detect

approachlearning

6 Aberystwyth, 07/2012, IM-CLeVeR Review Meeting J. Leitner

detecting

cartesian genetic

programming

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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)

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; }

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)

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.

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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