Towards a Theoretical Framework for Learning Multi-modal Patterns for Embodied Agents

  • Nicoletta Noceti
  • Barbara Caputo
  • Claudio Castellini
  • Luca Baldassarre
  • Annalisa Barla
  • Lorenzo Rosasco
  • Francesca Odone
  • Giulio Sandini
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5716)

Abstract

Multi-modality is a fundamental feature that characterizes biological systems and lets them achieve high robustness in understanding skills while coping with uncertainty. Relatively recent studies showed that multi-modal learning is a potentially effective add-on to artificial systems, allowing the transfer of information from one modality to another. In this paper we propose a general architecture for jointly learning visual and motion patterns: by means of regression theory we model a mapping between the two sensorial modalities improving the performance of artificial perceptive systems. We present promising results on a case study of grasp classification in a controlled setting and discuss future developments.

Keywords

multi-modality visual and sensor-motor patterns regression theory behavioural model objects and actions recognition 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Nicoletta Noceti
    • 1
  • Barbara Caputo
    • 2
  • Claudio Castellini
    • 3
  • Luca Baldassarre
    • 1
    • 4
  • Annalisa Barla
    • 1
  • Lorenzo Rosasco
    • 1
    • 5
  • Francesca Odone
    • 1
  • Giulio Sandini
    • 3
    • 6
  1. 1.DISI - University of GenovaItaly
  2. 2.IDIAP - MartignySwitzerland
  3. 3.DIST - University of GenovaItaly
  4. 4.DIFI - University of GenovaItaly
  5. 5.MITCambridgeUSA
  6. 6.IITGenovaItaly

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