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.
Abstract
A 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 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.
Abstract
In 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 Plesser,
"Towards reproducible model descriptions",
PLoS Comp Biol, vol. 5, no. 8, 2009.
Abstract
Progress 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 Clemente, Volker Willert, Julian Eggert,
"A Probabilistic Prediction Method for Object Contour Tracking",
Neural Network World, vol. 5, pp. 545-560, 2009.
Abstract
We 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 interp...
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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.
Abstract
This 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.
Abstract
While 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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Claudius Gläser, Frank Joublin, Christian Goerick,
"Learning and Use of Sensorimotor Schemata Maps",
Proceedings of the IEEE 8th International Conference on Development and Learning (ICDL), pp. 1–8, 2009.
Abstract
In this paper we present a framework for the learning and use of sensorimotor schemata. Therefore, we introduce the concept of a schema as a compact representation of an attractor dynamic and discuss how schemata, if embedded into the proposed architecture, can be used to produce, simulate, or recognize goal-directed behaviors. We further present a first implementation of the framework which incorporates well-founded biological principles. Firstl...
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Nghia Minh, Yew-Soon Ong, Yaochu Jin, Bernhard Sendhoff,
"Lamarkian memetic algorithms: Local optimum and connectivity structure analysis",
Memetic Computing, 2009.
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Kathrin Lohan, Anna-Lisa Vollmer, Jannik Fritsch, Britta Wrede, Katharina Rohlfing,
"How do Modification in Actions Develop with Children's Age and their Increasing Linguistic Abilities?",
Cognitive Development, 2009.
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