COMP 150: Developmental Robotics Instructor: Jivko Sinapov - - PowerPoint PPT Presentation

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COMP 150: Developmental Robotics Instructor: Jivko Sinapov - - PowerPoint PPT Presentation

Jun 20, 2023 43 likes •557 views

COMP 150: Developmental Robotics Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov Introduction Welcome! Who am I? Who are you? What to expect My robot friends... Stand or Sit What is a robot? (class discussion) Robots in

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COMP 150: Developmental Robotics

Instructor: Jivko Sinapov www.cs.tufts.edu/~jsinapov

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Introduction

  • Welcome!
  • Who am I?
  • Who are you?
  • What to expect
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My robot friends...

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Stand or Sit

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What is a robot?

(class discussion)

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Robots in Industry

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Mobile Robots

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“Service” Robots

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Planetary Exploration Robots

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Driverless Cars

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Entertainment Robots

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Robots in Science Fiction

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Toyota's Attempt 20 years later...

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Toyota's Attempt 20 years later...

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Why are we not there yet? What are the greatest difficulties towards getting robots to be autonomous and intelligent?

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Developmental Robotics

“Truly intelligent robot behavior cannot be achieved in the absence of a prolonged interaction with a physical or social

  • environment. In other words robots must

undergo a developmental period similar to those of humans and animals.”

  • Alexander Stoytchev
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Developmental Robotics

  • Relatively small sub-field...but with great

potential

  • Started early 2000s – many ideas have now

filtered out and become mainstream

  • Relatively unexplored
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Repeating Themes

  • Pre-programming is not enough!
  • Interaction
  • Embodiment
  • Self-organization
  • Grounding
  • Verification and correction of internal

representations

  • Stages of development...
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Topics

  • Overview of robotics

– Robot architectures, mobile robots and robot

manipulators, learning methods for robots

  • What is intelligence?
  • Theories of Development

– Nature vs Nurture? Or something else?

  • Embodiment and the Sense of Self

– Body scheme, self-recognition

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Topics (2)

  • Learning about objects and their affordances
  • Tool use in humans, animals, and robots
  • Multi-modal sensing and self-organization
  • Theories of vision in humans and robots
  • Social learning

– Language, scaffolding, socially-guided learning

  • ...
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Robot Simulators

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What is Intelligence?

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Embodiment

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The Sense of Self

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Body Schema

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Extensible Body Schema

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Self-Recognition

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Self-Recognition in Robots

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Theories of Development

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Theories of Development

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Affordances

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Example: Doors

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Learning Affordances

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Tool Use

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Tool Use by Robots

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Sensory Substitution

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Image-to-Sound Mapping

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Sensory Substitution

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Theories of Vision

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Language Acquisition

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Language Acquisition

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...and much more!

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Reading Assignment 1

  • Posted on course website
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Homework 0

  • Read the syllabus and the course web page

and think of a question you have that is not answered – email it to me (subject: [comp150])!

  • Course web-page:

http://www.cs.tufts.edu/comp/150DR/

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Questions / Comments?