Developmental learning of internal models for robotics

Abstract: Robots that operate in human environments can learn motor skills asocially, from selfexploration, or socially, from imitating their peers. A robot capable of doing both can be more ~daptiveand autonomous. Learning by imitation, however, requires the ability to understand the actions ofothers in terms ofyour own motor system: this information can come from a robot's own exploration. This thesis investigates the minimal requirements for a robotic system than learns from both self-exploration and imitation of others. .Through self.exploration and computer vision techniques, a robot can develop forward 'models: internal mo'dels of its own motor system that enable it to predict the consequences of its actions. Multiple forward models are learnt that give the robot a distributed, causal representation of its motor system. It is demon~trated how a controlled increase in the complexity of these forward models speeds up the robot's learning. The robot can determine the uncertainty of its forward models, enabling it to explore so as to improve the accuracy of its???????predictions. Paying attention fO the forward models according to how their uncertainty is changing leads to a development in the robot's exploration: its interventions focus on increasingly difficult situations, adapting to the complexity of its motor system. A robot can invert forward models, creating inverse models, in order to estimate the actions that will achieve a desired goal. Switching to socialleaming. the robot uses these inverse model~ to imitate both a demonstrator's gestures and the underlying goals of their movement.Imperial Users onl

Contextual Priming for Object Detection

There is general consensus that context can be a rich source of information about an object's identity, location and scale. In fact, the structure of many real-world scenes is governed by strong configurational rules akin to those that apply to a single object. Here we introduce a simple probabilistic framework for modeling the relationship between context and object properties based on the correlation between the statistics of low-level features across the entire scene and the objects that it contains. The resulting scheme serves as an effective procedure for object priming, context driven focus of attention and automatic scale-selection on real-world scenes

Methods and Apparatus for Autonomous Robotic Control

Sensory processing of visual, auditory, and other sensor information (e.g., visual imagery, LIDAR, RADAR) is conventionally based on "stovepiped," or isolated processing, with little interactions between modules. Biological systems, on the other hand, fuse multi-sensory information to identify nearby objects of interest more quickly, more efficiently, and with higher signal-to-noise ratios. Similarly, examples of the OpenSense technology disclosed herein use neurally inspired processing to identify and locate objects in a robot's environment. This enables the robot to navigate its environment more quickly and with lower computational and power requirements

Visual recognition of objects : behavioral, computational, and neurobiological aspects

I surveyed work on visual object recognition and perception. In animals, vision has been studied mainly on the behavioral and neurobiological levels. Behavioral data typically show what the visual system, by itself or together with the rest of the organism, is capable of. They show, for example, that humans can recognie objects regardless of size and position, but that rotated objects pose problems. Important insights into the organization of behavior have also been provided by people who suffered localized brain damage. We have learned that the brain is divided into areas subserving different and relatively well-defined behaviors. The visual system itself is also organized in different subsystems; the visual cortex alone contains nearly twenty maps of the visual field. And individual neurons respond selectively to visual stimuli, e.g., the orientation of line segments, color, direction of motion, and, most intriguingly, faces. The question is how the actions of all these neurons produce the behavior we observe. How do neurons represent the shape of objects such that they can be recognized? Before we can answer the question, we have to understand the computational aspect of shape representation, the nature of the problem as it were. Many methods for representing shape have been explored, mainly by computer scientists, but so far no satisfactory answers have been found

An Evaluation of Deep Learning-Based Object Identification

Identification of instances of semantic objects of a particular class, which has been heavily incorporated in people's lives through applications like autonomous driving and security monitoring, is one of the most crucial and challenging areas of computer vision. Recent developments in deep learning networks for detection have improved object detector accuracy. To provide a detailed review of the current state of object detection pipelines, we begin by analyzing the methodologies employed by classical detection models and providing the benchmark datasets used in this study. After that, we'll have a look at the one- and two-stage detectors in detail, before concluding with a summary of several object detection approaches. In addition, we provide a list of both old and new apps. It's not just a single branch of object detection that is examined. Finally, we look at how to utilize various object detection algorithms to create a system that is both efficient and effective. and identify a number of emerging patterns in order to better understand the using the most recent algorithms and doing more study

A computational model of space-variant vision based on a self-organised artificial retina tessellation

Abstract available: p.i-iii

THE POTENTIATION OF ACTIONS BY VISUAL OBJECTS

This thesis examines the relation between visual objects and the actions they afford. It is proposed that viewing an object results in the potentiation of the actions that can be made towards it. The proposal is consistent with neurophysiological evidence that suggests that no clear divide exists between visual and motor representation in the dorsal visual pathway, a processing stream that neuropsychological evidence strongly implicates in the visual control of actions. The experimental work presented examines motor system involvement in visual representation when no intention to perform a particular action is present. It is argued that the representation of action-relevant visual object properties, such as size and orientation, has a motor component. Thus representing the location of a graspable object involves representations of the motor commands necessary to bring the hand to the object. The proposal was examined in a series of eight experiments that employed a Stimulus- Response Compatibility paradigm in which the relation between responses and stimulus properties was never made explicit. Subjects had to make choice reaction time responses that mimicked a component of an action that a viewed object afforded. The action-relevant stimulus property was always irrelevant to response determination and consisted of components of the reach and grasp movement. The results found are not consistent with explanations based on the abstract coding of stimulus-response properties and strongly implicate the involvement of the action system. They provide evidence that merely viewing an object results in the activation of the motor patterns necessary to interact with them. The actions an object affords are an intrinsic part of its visual representation, not merely on account of the association between objects and familiar actions but because the motor system is directly involved in the representation of visuo-spatial object properties

Visual Saliency Estimation Via HEVC Bitstream Analysis

Abstract Since Information Technology developed dramatically from the last century 50's, digital images and video are ubiquitous. In the last decade, image and video processing have become more and more popular in biomedical, industrial, art and other fields. People made progress in the visual information such as images or video display, storage and transmission. The attendant problem is that video processing tasks in time domain become particularly arduous. Based on the study of the existing compressed domain video saliency detection model, a new saliency estimation model for video based on High Efficiency Video Coding (HEVC) is presented. First, the relative features are extracted from HEVC encoded bitstream. The naive Bayesian model is used to train and test features based on original YUV videos and ground truth. The intra frame saliency map can be achieved after training and testing intra features. And inter frame saliency can be achieved by intra saliency with moving motion vectors. The ROC of our proposed intra mode is 0.9561. Other classification methods such as support vector machine (SVM), k nearest neighbors (KNN) and the decision tree are presented to compare the experimental outcomes. The variety of compression ratio has been analysis to affect the saliency

Recognition by directed attention to recursively partitioned images

A learning/recognition model (and instantiating program) is described which recursively combines the learning paradigms of conceptual clustering (Michalski, 1980) and learning-from-examples to resolve the ambiguities of real-world recognition. The model is based on neuropsychological and psychological evidence that the visual system is analytic, hierarchical, and composed of a parallel/serial dichotomy (many, see conclusions by Crick, 1984). Emulating the experimental evidence, parallel processes in the model decompose the image into components and cluster the constituents in much the same way as the image processing technique known as moment analysis (Alt, 1962). Serial, attentive mechanisms then reassemble the decompositions by investigating spatial relationships between components. The use of attentive mechanisms extends the moment analysis technique to handle alterations in structure and solves the contention problem created by combining the two learning paradigms. The contention results from a disagreement between the teacher and the model on what constitutes the salient features at the highest level of the symbol. There are four cases ZBT must handle, two of which result from the disagreement with the teacher. The parallel/serial dichotomy represents a vertical/horizontal tradeoff between the invariant and variant features of a domain. The resultant learned hierarchy allows ZBT to recognize structural differences while avoiding problems of exponential growth