Structural feature extraction based on active sensing experiences

Shun Nishide, Tetsuya Ogata, Ryunosuke Yokoya, Kazunori Komatani, Hiroshi G. Okuno, Jun Tani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Affordance is a feature of an object or environment that implies how to interact with it. Based on affordance theory, humans are said to perceive invariant structures for cognizing the object/environment for generating behaviors. In this paper, the authors present a method to extract invariant structures of objects from visual raw images, based on object manipulation experiences using a humanoid robot. The method consists of two training phases. The first phase utilizes Recurrent Neural Network with Parametric Bias (RNNPB) to self-organize dynamical object features extracted during active sensing with objects. The second phase trains a hierarchical neural network attached to RNNPB for associating object images and robot motions with self-organized object features. Analysis of the model has uncovered static objects features that are closely related to dynamic object motions, such as round or stable.

Original languageEnglish
Title of host publicationProceedings - International Conference on Informatics Education and Research for Knowledge-Circulating Society, ICKS 2008
Pages169-172
Number of pages4
DOIs
Publication statusPublished - 2008 Aug 29
EventInternational Conference on Informatics Education and Research for Knowledge-Circulating Society, ICKS 2008 - Kyoto, Japan
Duration: 2008 Jan 172008 Jan 17

Publication series

NameProceedings - International Conference on Informatics Education and Research for Knowledge-Circulating Society, ICKS 2008

Other

OtherInternational Conference on Informatics Education and Research for Knowledge-Circulating Society, ICKS 2008
CountryJapan
CityKyoto
Period08/1/1708/1/17

ASJC Scopus subject areas

  • Information Systems
  • Education

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  • Cite this

    Nishide, S., Ogata, T., Yokoya, R., Komatani, K., Okuno, H. G., & Tani, J. (2008). Structural feature extraction based on active sensing experiences. In Proceedings - International Conference on Informatics Education and Research for Knowledge-Circulating Society, ICKS 2008 (pp. 169-172). [4460487] (Proceedings - International Conference on Informatics Education and Research for Knowledge-Circulating Society, ICKS 2008). https://doi.org/10.1109/ICKS.2008.9