Matthias Rolf, Jochen Steil, Michael Gienger,
"Online Goal Babbling for rapid bootstrapping of inverse models in high dimensions",
IEEE International Conference on Development and Learning (ICDL) and on Epigenetic Robotics (EpiRob), 2011.
Abstract
We present a model of online Goal Babbling for the bootstrapping of sensorimotor coordination. By modeling infants’ early goal-directed movements we can show that inverse models can be bootstrapped within a few hundred movements even in very high-dimensional sensorimotor spaces. Our model thereby explains how infants might initially acquire reaching skills without the need for exhaustive exploration, and how robots can do so in a feasible way. ...
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Cem Karaoguz, Tobias Rodemann, Britta Wrede,
"A Reward-based Visual Attention Framework for Humanoid Robots",
European Conference on Eye Movements, 2011.
Abstract
Humans are exposed to a vast amount of visual information throughout their interaction with the environment. Among different visual stimuli, finding the ones that are relevant to the task being undertaken is a crucial process. The human vision system employs top-down attention mechanisms that generate eye movements towards task-relevant stimuli [Land & Tatler, Looking and Acting, 2009, Oxford University Press]. These attention mechanisms are part...
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Nikolas Hemion, Frank Joublin, Katharina Rohlfing,
"A competitive mechanism for self-organized learning of sensorimotor mappings",
Int. Conf. on Development and Learning (ICDL), 2011.
Abstract
How can a robot learn sensorimotor knowledge in a developmental way based on its own experiences solely? An important step is the acquisition of a body-schema—learning about the physical behavior of its own body, and how incoming sensory stimuli can be put in relation to the own body. In this work, we study how a competitive learning mechanism, which is related to the EM algorithm, can help to simplify the learning problem. We demonstrate how a...
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Matthias Behnisch, Robert Haschke, Helge Ritter, Michael Gienger,
"Deformable Trees – Exploiting Local Obstacle Avoidance",
11th IEEE-RAS International Conference on Humanoid Robots, 2011.
Abstract
This work describes a hybrid trajectory planning approach for redundant robots, combining a local obstacle avoidance control framework with a global sampling-based planning component. The complexity induced by the high dimensionality of the configuration space is counteracted by shifting the global search to a low dimensional task space representation. It is shown how an advanced autonomy of the controller to locally circumvent obstacles can be e...
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Michael Ortiz, Jannik Fritsch, Franz Kummert, Alexander Gepperth,
"Behavior prediction at multiple time-scales in inner-city scenarios",
IEEE Intelligent Vehicles Symposium (IV), 2011.
Abstract
We present a flexible and scalable architecture that can learn to predict the future behavior of a vehicle in inner-city traffic. While behavior prediction studies have mainly been focusing on lane change events on highways, we apply our approach to a simple inner-city scenario: approaching a traffic light. Our system employs dynamic information about the current ego-vehicle state as well as static information about the scene, in this case positi...
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Robert Kastner,
"Robust Path Identification for Driver Assistance",
TU Darmstadt, 2011.
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Gökhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Jun-ichi Imura, Keisuke Nakamura, Hirofumi Nakajima,
"Assessment of Single-channel Ego Noise Estimation Methods",
International Conference on Intelligent Robot and Systems (IROS 2011), 2011.
Abstract
While a robot is moving, ego noise is generated due to the fans and motors of the robot. Furthermore, a robot is not only subject to the ego noise, but also to the ambient noise of the environment, both having different short- term signal characteristics. Because ego-motion noise generated by the motors is non-stationary, and the BackGround Noise (BGN) is stationary, one single noise estimation method is unable to track the changes in both noise ...
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Alexander Andreopoulos, Stephan Hasler, Heiko Wersing, Herbert Janßen, John Tsotsos, Edgar Körner,
"Active 3D Object Localization Using a Humanoid Robot",
IEEE Transactions on Robotics, vol. 27, no. 1, pp. 47-64, 2011.
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Michael Rath and Lars Gräning,
"Modeling Design and Flow Feature Interactions for Automotive Synthesis",
Int. Conf. on Intelligent Data Engeneering and Automated Learning (IDEAL), 2011.
Abstract
In the automotive industry Computational Fluid Dynamics (CFD) simulations have become an important technology to support the development process of a new automobile. During that process, individual simulations of the air flow produce a huge amount of information about the design characteristic, where mostly only a minority of information is used. At the same time knowledge about the relationship between design modifications and their aerodynamic ...
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Gökhan Ince,
"Ego Noise Estimation for Robot Audition",
Tokyo Institute of Technology, Tokyo Institute of Technology (TiTech), 2011.
Abstract
Robots should listen to their surrounding world by the microphones embedded in their bodies to recognize and understand the auditory environment. This artificial listening capability called robot audition is an important function to understand the surrounding auditory world including sounds such as human voices, music, and other environmental sounds. Robot audition can be improved by incorporating another modality, robot motion, so that the frame...
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