Integration of sensorimotor mappings by making use of redundancies

Hemion N, Joublin F, Rohlfing K. Integration of sensorimotor mappings by making use of redundancies. In: IEEE Computational Intelligence Society, Institute of Electrical and Electronics Engineers, eds. The 2012 International Joint Conference on Neural Networks (IJCNN). Brisbane, Australia: IEEE; 2012

Manifold Integration: Data Integration on Multiple Manifolds

In data analysis, data points are usually analyzed based on their relations to other points (e.g., distance or inner product). This kind of relation can be analyzed on the manifold of the data set. Manifold learning is an approach to understand such relations. Various manifold learning methods have been developed and their effectiveness has been demonstrated in many real-world problems in pattern recognition and signal processing. However, most existing manifold learning algorithms only consider one manifold based on one dissimilarity matrix. In practice, multiple measurements may be available, and could be utilized. In pattern recognition systems, data integration has been an important consideration for improved accuracy given multiple measurements. Some data integration algorithms have been proposed to address this issue. These integration algorithms mostly use statistical information from the data set such as uncertainty of each data source, but they do not use the structural information (i.e., the geometric relations between data points). Such a structure is naturally described by a manifold. Even though manifold learning and data integration have been successfully used for data analysis, they have not been considered in a single integrated framework. When we have multiple measurements generated from the same data set and mapped onto different manifolds, those measurements can be integrated using the structural information on these multiple manifolds. Furthermore, we can better understand the structure of the data set by combining multiple measurements in each manifold using data integration techniques. In this dissertation, I present a new concept, manifold integration, a data integration method using the structure of data expressed in multiple manifolds. In order to achieve manifold integration, I formulated the manifold integration concept, and derived three manifold integration algorithms. Experimental results showed the algorithms' effectiveness in classification and dimension reduction. Moreover, for manifold integration, I showed that there are good theoretical and neuroscientific applications. I expect the manifold integration approach to serve as an effective framework for analyzing multimodal data sets on multiple manifolds. Also, I expect that my research on manifold integration will catalyze both manifold learning and data integration research

Building Blocks for Cognitive Robots: Embodied Simulation and Schemata in a Cognitive Architecture

Hemion N. Building Blocks for Cognitive Robots: Embodied Simulation and Schemata in a Cognitive Architecture. Bielefeld: Bielefeld University; 2013.Building robots with the ability to perform general intelligent action is a primary goal of artificial intelligence research. The traditional approach is to study and model fragments of cognition separately, with the hope that it will somehow be possible to integrate the specialist solutions into a functioning whole. However, while individual specialist systems demonstrate proficiency in their respective niche, current integrated systems remain clumsy in their performance. Recent findings in neurobiology and psychology demonstrate that many regions of the brain are involved not only in one but in a variety of cognitive tasks, suggesting that the cognitive architecture of the brain uses generic computations in a distributed network, instead of specialist computations in local modules. Designing the cognitive architecture for a robot based on these findings could lead to more capable integrated systems. In this thesis, theoretical background on the concept of embodied cognition is provided, and fundamental mechanisms of cognition are discussed that are hypothesized across theories. Based on this background, a view of how to connect elements of the different theories is proposed, providing enough detail to allow computational modeling. The view proposes a network of generic building blocks to be the central component of a cognitive architecture. Each building block learns an internal model for its inputs. Given partial inputs or cues, the building blocks can collaboratively restore missing components, providing the basis for embodied simulation, which in theories of embodied cognition is hypothesized to be a central mechanism of cognition and the basis for many cognitive functions. In simulation experiments, it is demonstrated how the building blocks can be autonomously learned by a robot from its sensorimotor experience, and that the mechanism of embodied simulation allows the robot to solve multiple tasks simultaneously. In summary, this thesis investigates how to develop cognitive robots under the paradigm of embodied cognition. It provides a description of a novel cognitive architecture and thoroughly discusses its relation to a broad body of interdisciplinary literature on embodied cognition. This thesis hence promotes the view that the cognitive system houses a network of active elements, which organize the agent's experiences and collaboratively carry out many cognitive functions. On the long run, it will be inevitable to study complete cognitive systems such as the cognitive architecture described in this thesis, instead of only studying small learning systems separately, to answer the question of how to build truly autonomous cognitive robots

A Learning Framework for Generic Sensory-Motor Maps

Abstract — We present a new approach to cope with unknown redundant systems. For this we present i) an online algorithm that learns general input-output restrictions and, ii) a method that, given a partial set of input-output variables, provides an estimate of the remaining ones, using the learned restrictions. We show applications of the algorithm using examples of direct and inverse robot kinematics. Index Terms — manifold learning, humanoid robots, redundancy, sensory-motor coordination I