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Authors: Jens Kleesiek 1 ; Stephanie Badde 2 ; Stefan Wermter 2 and Andreas K. Engel 3

Affiliations: 1 University Medical Center Hamburg-Eppendorf and University of Hamburg, Germany ; 2 University of Hamburg, Germany ; 3 University Medical Center Hamburg-Eppendorf, Germany

Keyword(s): Active perception, RNNPB, Humanoid robot.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Biomedical Engineering ; Biomedical Signal Processing ; Cognitive Robotics ; Cognitive Systems ; Computational Intelligence ; Evolutionary Computing ; Health Engineering and Technology Applications ; Human-Computer Interaction ; Informatics in Control, Automation and Robotics ; Methodologies and Methods ; Neural Networks ; Neurocomputing ; Neurotechnology, Electronics and Informatics ; Pattern Recognition ; Physiological Computing Systems ; Robotics and Automation ; Sensor Networks ; Signal Processing ; Soft Computing ; Symbolic Systems ; Theory and Methods ; Vision and Perception

Abstract: We present a recurrent neural architecture with parametric bias for actively perceiving objects. A humanoid robot learns to extract sensorimotor laws and based on those to classify eight objects by exploring their multi-modal sensory characteristics. The network is either trained with prototype sequences for all objects or just two objects. In both cases the network is able to self-organize the parametric bias space into clusters representing individual objects and due to that, discriminates all eight categories with a very low error rate. We show that the network is able to retrieve stored sensory sequences with a high accuracy. Furthermore, trained with only two objects it is still able to generate fairly accurate sensory predictions for unseen objects. In addition, the approach proves to be very robust against noise.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Kleesiek, J.; Badde, S.; Wermter, S. and K. Engel, A. (2012). WHAT DO OBJECTS FEEL LIKE? - Active Perception for a Humanoid Robot. In Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART; ISBN 978-989-8425-95-9; ISSN 2184-433X, SciTePress, pages 64-73. DOI: 10.5220/0003729900640073

@conference{icaart12,
author={Jens Kleesiek. and Stephanie Badde. and Stefan Wermter. and Andreas {K. Engel}.},
title={WHAT DO OBJECTS FEEL LIKE? - Active Perception for a Humanoid Robot},
booktitle={Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART},
year={2012},
pages={64-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003729900640073},
isbn={978-989-8425-95-9},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 4th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART
TI - WHAT DO OBJECTS FEEL LIKE? - Active Perception for a Humanoid Robot
SN - 978-989-8425-95-9
IS - 2184-433X
AU - Kleesiek, J.
AU - Badde, S.
AU - Wermter, S.
AU - K. Engel, A.
PY - 2012
SP - 64
EP - 73
DO - 10.5220/0003729900640073
PB - SciTePress