Goal-oriented behavior generation for visually-guided manipulation task

Sungmoon Jeong, Yunjung Park, Hiroaki Arie, Jun Tani, Minho Lee

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

We propose a new neuro-robotics network architecture that can generate goal-oriented behavior for visually-guided multiple object manipulation task by a humanoid robot. For examples, given a "sequential hit" multiple objects task, the proposed network is able to modulate a humanoid robot's behavior by taking advantage of suitable timing for gazing, approaching and hitting the object and again for the other object. To solve a multiple object manipulation task via learning by examples, the current study considers two important mechanisms: (1) stereo visual attention with depth estimation for movement generation, dynamic neural networks for behavior generation and (2) their adaptive coordination. Stereo visual attention provides a goal-directed shift sequence in a visual scan path, and it can guide the generation of a behavior plan considering depth information for robot movement. The proposed model can simultaneously generate the corresponding sequences of goal-directed visual attention shifts and robot movement timing with regards to the current sensory states including visual stimuli and body postures. The experiments show that the proposed network can solve a multiple object manipulation task through learning, by which some novel behaviors without prior learning can be successfully generated.

元の言語English
ホスト出版物のタイトルLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ページ501-508
ページ数8
7062 LNCS
エディションPART 1
DOI
出版物ステータスPublished - 2011
外部発表Yes
イベント18th International Conference on Neural Information Processing, ICONIP 2011 - Shanghai
継続期間: 2011 11 132011 11 17

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
番号PART 1
7062 LNCS
ISSN(印刷物)03029743
ISSN(電子版)16113349

Other

Other18th International Conference on Neural Information Processing, ICONIP 2011
Shanghai
期間11/11/1311/11/17

    フィンガープリント

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

これを引用

Jeong, S., Park, Y., Arie, H., Tani, J., & Lee, M. (2011). Goal-oriented behavior generation for visually-guided manipulation task. : Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 1 版, 巻 7062 LNCS, pp. 501-508). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 巻数 7062 LNCS, 番号 PART 1). https://doi.org/10.1007/978-3-642-24955-6_60