Upload
dominic54
View
398
Download
0
Tags:
Embed Size (px)
DESCRIPTION
Citation preview
Project ArteSImit
Artefact Structural Learning through Imitation
(TU München, U Parma, U Tübingen, U Minho, KU Nijmegen)
Giorgio Panin - TUM
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 2 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Artesimit Project Partners
Alois Knoll and colleagues (project coordinator, Robotics, Munich)
Giacomo Rizzolatti and colleagues (Neurophysiology, Parma)
Peter Thier and colleagues (Cognitive Neuroscience, Tübingen)
Wolfram Erlhagen and colleagues (Cognitive Modeling, Minho)
Harold Bekkering and colleagues (Cognitive Neuropsychology, Nijmegen)
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 3 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Central issue of imitation:do we imitate movements (means) or consequences (goals) of the
observed behavior?
Movements somehow need to be directly mapped (via-point approach), whereas goals need to be represented.
Movement mapping assumes homologue bodies, full access of the whole movement and stable environments.
Goal representation assumes an association between an (observed) action and the (observed) consequence.
The concept of goal-directed Imitation
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 4 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
How to work together?
Behavioral measurements (healthy and clinical patients)
Brain research (single-cell, fMRI, MEG, EEG)
Modeling (Dynamic neural fields)
Robotics (Visual analysis, cognition, and artefact control)
THE solution: One common paradigm
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 5 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Common paradigm
Starting position Movement 1
Movement 2A LED gives information about either the goal or the means
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 6 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Motor responses of parietal neurons
Parietal Mirror Neuron findings
Observation task Visual responses of parietal mirror neurons
Motor task
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 7 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Architecture of the dynamic model
PFC: Goal representations Task inputObject properties (e.g. colour)
STS: Visual desciption of grip and trajectory
PF: Sequence of means
F5: Movement primitives
Bridge Paradigm
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 8 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Visual system in action: Task recognition
Complete information acquisition for
the decision and planning tasks
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 9 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Learning I: Association between object properties and goal
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 10 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Learning II: Copying the means of the teacher
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 11 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Goal-directed imitation
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 12 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Partial information: Cueing of the goal
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 13 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Partial information: Cueing of the means
__________________________________________________________________________________________________________________________________________________________________________________
Project funded by the Future and Emerging Technologies arm of the IST Programme 14 FET-”Neuroinformatics for Living Artefacts” under contract No. IST-2000-29689
Summary
The project combined ...
• the development of a new paradigm for goal-directed imitation with imaging studies across all modalities
• new findings in experimental neurophysiology and advanced neuromodelling of the structure of the PFC-(STS-PF-F5)-coupling to develop and implement computer-operational models for goal-directed imitation
• the development of a powerful model-based hand posture recogniser (using only one B/W camera)
into ...
• A complete artefact (robot system) capable of mimicking imitation behaviour of creatures: all project goals have been met!