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Stephan Kirstein, Alexander Denecke, Stephan Hasler, Heiko Wersing, Horst-Michael Groß, Edgar Körner , "A Vision Architecture for Unconstrained and Incremental Learning of Multiple Categories", Memetic Computing, vol. 1, no. 4, pp. 291–304, 2009.
AbstractWe present an integrated vision architecture capable of incrementally learning several visual categories based on natural hand-held objects. Ad- ditionally we focus on interactive learning, which requires real-time image processing methods and a fast learning algorithm. The overall system is composed of a figure-ground segregation part, several feature extraction methods and a life-long learning approach combining incremental learn- ing with cate...
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Yaochu Jin, Yan Meng, Bernhard Sendhoff , "Evolvability and robustness of in silico evolution of gene regulatory dynamics", Foundations of Systems Biology in Engineering, pp. 68–71, 2009.
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Soundappan Ramanathan , "Knowledge Incorporation into Evolutionary Algorithms to Speed up Aerodynamic Design Optimization", University of Stuttgart, 2009.
AbstractThis work deals with making the search process with Evolution Strat- egy with Covariance Matrix Adaptation (CMA-ES) more efficient. Methods are proposed to initialise the optimisation with predefined knowledge instead using a random initialisation in the context of aero- dynamic design optimisation. In aerodynamics, the search for better shape is always in research. Conventional numerical optimisation pro- cesses results in huge amount of data se...
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Till Steiner, Jens Trommler, Martin Brenn, Yaochu Jin, Bernhard Sendhoff , "Global Shape with Morphogen Gradients and Motile Polarized Cells", Proceedings of the 2009 IEEE Congress on Evolutionary Computation, Trondheim, 2009.
AbstractA new cellular model for evolving stable, lightweight structures is presented in this paper. The focus lies in enhancing the ability of the cellular system to create complex 3D shapes with non self-similar regions. Compared to our previous work [17], the model proposed in this paper is composed of polarized cells that have directionally differential force functions for cell adhesion and thus are able to follow morphogen gradients (chemotaxis). We...
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Christian Goerick, Jens Schmüdderich, Bram Bolder, Herbert Janßen, Michael Gienger, Achim Bendig, Martin Ernst Heckmann, Tobias Rodemann, Holger Brandl, Xavier Domont, Inna Mikhailova , "Interactive Online Multimodal Association for Internal Concept Building in Humanoids", IEEE-RAS International Conference on Humanoids 2009, 2009.
AbstractIn this paper we report the results of our research on learning and developing cognitive systems. The results are integrated into ALIS 3, our Autonomous Learning and Interacting System version 3 realized the humanoid robot ASIMO. The results presented address crucial issues in autonomously acquiring mental concepts in artifacts. The major contributions are the following: We researched distributed learning in various modalities in which the local ...
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Eilen Nordlie, Marc-Oliver Gewaltig, Hans Ekkehard Plesser , "Towards reproducible model descriptions", PLoS Comp Biol, vol. 5, no. 8, 2009.
AbstractProgress in science depends on the effective exchange of ideas among scientists. New ideas can be assessed and criticized in a meaningful manner only if they are formulated precisely. This applies to simulation studies as well as to experiments and theories. But after more than 50 years of neuronal network simulations, we still lack a clear and common understanding of the role of computational models in neuroscience, as well as established practi...
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Sebastian Gieselmann, Katrin Lohan, Anna-Lisa Vollmer , "newTuBe (new Tutoring Behavior) Tutoring System for iCub", International Conference on Humanoid Robots, 2009.
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Daniel Weiler, Irene Ayllón Clemente, Volker Willert, Julian Eggert , "A Probabilistic Prediction Method for Object Contour Tracking", Neural Network World, vol. 5, pp. 545-560, 2009.
AbstractWe present an approach for probabilistic contour prediction within the framework of an object tracking system. We combine level-set methods for image segmentation with optical flow estimations based on probability distribution functions (pdf’s) calculated at each image position. Unlike most recent level-set methods that consider exclusively the sign of the level-set function to determine an object and its background, we introduce a novel interpre...
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Miguel Vaz, Holger Brandl, Frank Joublin, Christian Goerick , "Learning from a tutor: embodied speech acquisition and imitation learning", Proceedings of International Conference on Development and Learning, 2009.
AbstractThis work presents a new developmentally inspired data-driven framework to bootstrap speech perception and imitation abilities in interaction with a tutor. The proposed system architecture extends our work presented in [1], that implements a cascade of interconnected layers to acquire the structure of speech in terms of phones, syllables and words. Here, we show how to couple such a perceptual model with a speech imitation system that produces sp...
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Gökhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Yuji Hasegawa, Hiroshi Tsujino, Jun-ichi Imura , "Ego Noise Suppression of a Robot Using Template Subtraction", Proceedings of the International Conference on Intelligent Robots and Systems, 2009.
AbstractWhile a robot is moving, the joints inevitably generate noise due to its motors, i.e. ego-motion noise. This problem is very crucial, especially in humanoid robots, because it tends to have a lot of joints and the motors are located closer to the microphones than the sound sources. In this work, we investigate methods for the prediction and suppression of the ego-motion noise. In the first part, we analyze the performance of different noise subtr...
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