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Yaochu Jin, Robin Gruna, Bernhard Sendhoff, "Pareto Analysis of Evolutionary and Learning Systems", Frontiers of Computer Science in China, vol. 3, no. 1, pp. 4–17, 2009.
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Martin Heracles, Bram Bolder, Christian Goerick, "Fast Detection of Arbitrary Planar Surfaces from Unreliable 3D Data", International Conference on Intelligent Robots and Systems (IROS), 2009.
AbstractMan-made real-world environments are dominated by planar surfaces many of which constitute behaviorrelevant entities. Thus, the ability to perceive planar surfaces is vital for any embodied system operating in such environments, be it human or robotic. In this paper, we present an architecture for detection and estimation of planar surfaces in the scene from calibrated stereo images. They are represented in a behavior-oriented way, focusing on ge...
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Katrin Lohan, Anna-Lisa Vollmer, Jannik Fritsch, Katharina Rohlfing, Britta Wrede, "Which ostensive stimuli can be used for a robot to detect and maintain tutoring situations?", Int. Workshop on Social Signals Processing, 2009.
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Matthew Howard, Stefan Klanke, Michael Gienger, Christian Goerick, Sethu Vijayakumar, "A Novel Method for Learning Policies from Variable Constraint Data", Autonomous Robots, 2009.
AbstractMany everyday human skills can be framed in terms of performing some task subject to constraints imposed by the environment.Constraints are usually unobservable and frequently change between contexts. In this paper, we present a novel approach for learning (unconstrained) control policies from movement data, where observations come from movements under different constraints. As a key ingredient, we introduce a small but highly effective modificat...
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Michael Garcia Ortiz and Alexander Gepperth, "Local self-adaptation mechanisms for large-scale neural system building", Proceedings of the 2nd International Conference on Cognitive Neurodynamics, 2009.
AbstractFor integrating neural networks into large systems, dynamical stability and parameter settings are key issues, especially for popular recurrent network models such as dynamic neural fields. In neural circuits, homeostatic plasticity seems to counter these problems. Here we present a set of gradient adaptation rules that autonomously regulate the strength of synaptic input and the parameters of the transfer function for each neuron individually. B...
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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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