The University of Edinburgh Site
Principal Investigator: Sethu Vijayakumar
Team Members: Stefan Klanke, Sebastian Bitzer,
Djordje Mitrovic
Project Description
The project SENSOPAC: Sensorimotor structuring of
Perception and Action is funded under the EU Framework 6 IST Cognitive Systems initiative for a period of 48 months. The
project involves a total of 11 partners across
Europe including research groups from Cambridge (D. Wolpert), DLR Germany
(P. van der Smagt), SONY France (O. Coenen),
Erasmus MC (C. De Zeeuw), Pavia (E. D'Angelo), UMEA-Sweden (R.Johansson),
LUND-Sweden (Jorntell, Ekerot), Bar-Ilan (Cohen), UGR-Spain (Ros), Altjira
(Arnold) besides Edinburgh
The overall aims of the SENSOPAC project are to: (i) Understand the sensorimotor foundation of perception and cognition,
(ii) Improve our understanding of the neurobiological substrate for
action-perception systems, (iii) Build a physical
system for haptic cognition, (iv) Use
probabilistic techniques to investigate cognition in the brain,
(v) Develop real-time neuromorphic and computing platforms for
cognitive robotics. The project will deal with multiple sensory
modalities like haptic, proprioceptive, position and force feedback.
Edinburgh's Principal Role
The Edinburgh group will be responsible for the machine learning approaches to
discovering sensorimotor contingencies from high dimensional sensorimotor
data and development of novel control methods for use with redundant
actuation and multiple, varying contexts. We will work with both artificial
and real world (robot and human) data.
Individual subprojects
Project |
Task(s) |
People involved (besides Sethu Vijayakumar) |
Adaptive Internal Models |
2B.1, 2B.2, 2B.4, 2B.5, 2B.6, 3A.1 |
Djordje Mitrovic, Narayanan Edakunni, Giorgos Petkos |
Simulation Environment |
2C.2, 3B.2, 3B.3 | Djordje Mitrovic, Stefan Klanke |
Context Estimation and Switching |
2A.1, 2A.3, 2C.1, 2C.2, 2C.4 | Giorgos Petkos, Heiko Hoffmann, Sebastian
Bitzer |
Dimensionality Reduction |
2A.2, 2A.3, 2B.6, 4A | Sebastian Bitzer,
Stefan Klanke, Heiko Hoffmann |
Dynamical Systems for Motion
Planning | 2A.1, 2A.3, 4A | Sebastian Bitzer |
Haptic Data Decoding and
Processing | 1B.1, 2A.3 | Hannes Saal, Heiko Hoffmann |
Bayesian Cue Integration | 1B.1, 1C.2 | Timothy Hospedales |
Optimal Feedback Control |
3A.1, 3A.2 | Djordje Mitrovic, Stefan Klanke |
Datasets and software
Some of our datasets, software packages, and the code we use to run
our experiments may be of interest to other SENSOPAC partners. During
the course of the project, we make relevant material available on
this webpage.
SENSOPAC related publication output:
-
Georgios Petkos and Sethu Vijayakumar,
Load estimation and control using learned dynamics models,
Proc. IEEE International Conference on Intelligent Robots and Systems (IROS), San Diego, USA (2007).
-
Adrian Haith and Sethu Vijayakumar,
Robustness of VOR and OKR adaptation under kinematics and dynamics transformations,
Proc. Sixth IEEE international Conference on
Development and Learning (ICDL '07), London,(2007). [pdf]
-
Heiko Hoffmann, Georgios Petkos, Sebastian Bitzer and Sethu Vijayakumar,
Sensor Assisted Adaptive Motor Control under
continuously varying Context,
Proc. International Conference on Informatics in Control, Automation and Robotics
(ICINCO '07), Angers,
France(2007). [pdf]
-
Georgios Petkos and Sethu Vijayakumar,
Context Estimation and Learning Control through Latent Variable
Extraction: From discrete to continuous contexts, Proc. IEEE
International Conference on Robotics and Automation (ICRA '07), Rome,
Italy (2007). [pdf]
-
Masashi Sugiyama, Hirotaka Hachiya, Christopher Towell and Sethu Vijayakumar,
Value Function Approximation on Non-Linear Manifolds for Robot Motor
Control,
Proc. IEEE International Conference on Robotics and Automation (ICRA
'07), Rome, Italy (2007). [pdf]
-
Narayanan Edakunni, Stefan Schaal and Sethu Vijayakumar,
Kernel Carpentry for Online Regression using Randomly Varying Coefficient
Model,
Proc. International Joint Conference on Artificial Intelligence (IJCAI '07), Hyderabad, India
(2007).
[pdf]
-
Timothy Hospedales,
Joel Cartwright and Sethu Vijayakumar,
Structure Inference for Bayesian Multisensory Perception and Tracking,
Proc. International Joint Conference on Artificial Intelligence (IJCAI
'07), Hyderabad, India (2007). [pdf]
- Graham McNeill and Sethu Vijayakumar,
Part-based Probabilistic Point Matching Using Equivalence Constraints,
Proc. Advances in Neural Information Processing Systems (NIPS '06), Vancouver,
Canada (2006). [pdf]
-
Matthew Howard , Michael Gienger, Christian Goerick and Sethu Vijayakumar,
Learning Utility Surfaces for Movement Selection,
Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kunmin,
China (2006). [pdf]
-
Georgios Petkos, Marc Toussaint and Sethu Vijayakumar,
Learning Multiple Models of Non-Linear Dynamics for Control under Varying
Contexts,
Proc. International Conference on Artificial Neural Networks (ICANN
'06), Athens, Greece (2006). [pdf]
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