Paul Fitzpatrick, Amy Needham, Lorenzo Natale, Giorgio Metta, Genoa Italy
Robots and humans receive partial, fragmentary hints about the world’s state through their respective sensors. These hints – tiny patches of light intensity, frequency components of sound, etc....
and Machine Perception and is made available as an electronic preprint with permission of SPIE. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction,...
Shared Challenges in Object Perception for Robots and Infants † (2008)
Paul Fitzpatrick, Amy Needham, Lorenzo Natale, Giorgio Metta
Robots and humans receive partial, fragmentary hints about the world’s state through their respective sensors. In this paper, we focus on some fundamental problems in perception that have attracted...
Tikhanoff, Vadim, Cangelosi, Angelo, Fitzpatrick, Paul, Metta, Giorgio, Natale, Lorenzo, Nori, Francesco
This paper presents the prototype of a new computer simulator for the humanoid robot iCub. The iCub is a new open-source humanoid robot developed as a result of the “RobotCub” project, a...
IEEE Intelligent Systems (2008)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati, Paulina Varchavskaia
Our group builds robots to operate in natural, social environments. The challenge of interacting with humans constrains how our robots appear physically, how they move, how they perceive the world,...
Better Vision Through Experimental Manipulation (2008)
Giorgio Metta, Paul Fitzpatrick
Experimentation is crucial to human progress at all scales, from society as a whole to a young infant in its cradle. It allows us to elicit learning episodes suited to our own needs and limitations....
Artur Arsenio, Paul Fitzpatrick
cross-modal rhythm for robot perception of objects
The Problem: For a robot to manipulate its environment effectively, it needs to know which parts of the world move together, and which are more or less independent. Humans can judge physical...
Training Data Instructor (2008)
The Problem: Robot tasking addresses how a user can induce a mechanically general-purpose robot to perform a particular operation. It is crucial for the success of tasking that the robot can acquire...
Abstract Towards Long-Lived Robot Genes (2008)
Paul Fitzpatrick, Giorgio Metta
Robot projects are often evolutionary dead ends, with the software and hardware they produce disappearing without trace afterwards. In humanoid robotics, a small field with an avid appetite for novel...
Detecting object boundaries using focus (2008)
Paul Fitzpatrick, Eduardo Torres-jara
zoom, shadows, and active probing
An Active Vision System for a Social Robot (2008)
Cynthia Breazeal, Paul Fitzpatrick, Brian Scassellati
The Problem: If a robot is intended to interact with people, it needs an active vision system that can serve both a perceptual and communicative function. Motivation: Much of human social behavior is...
Development and imitation in a humanoid robot (2008)
Giorgio Metta, Paul Fitzpatrick
The Problem: It is believed that one of the distinguishing skills of homo sapiens sapiens is that of learning from imitation while it is less clear whether other primates are capable of true...
IEEE Intelligent Systems (2007)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati, Paulina Varchavskaia
Our group builds robots to operate in natural, social environments. The challenge of interacting with humans constrains how our robots appear physically, how they move, how they perceive the world,...
Coarse Visual Homing using Azimuthal Cues (2007)
In local homing, an agent returns to a previously visited location by moving to maximize the correspondence between what it sees currently and a remembered view from the target. Clearly this is...
“A novel behaviour-based robot architecture and its application to building an autonomous robot sentry” by
Better Vision Through Experimental Manipulation (2007)
Giorgio Metta, Paul Fitzpatrick
Experimentation is crucial to human progress at all scales, from society as a whole to a young infant in its cradle. It allows us to elicit learning episodes suited to our own needs and limitations....
Paul Fitzpatrick, Giorgio Metta, Lorenzo Natale, Sajit Rao, Giulio S
Within the field of Neuro Robotics we are driven primarily by the desire to understand how humans and animals live and grow and solve every day’s problems. To this aim we adopted a “learn by...
Head pose estimation without manual initialization (2007)
Abstract. This paper describes a fully automatic system for recovering the rigid components of head pose. It follows the conventional approach of tracking pose changes relative to a reference...
When Abandoned Bits Bite Back – Reversibility and Quantum Computing (2007)
Abstract. Reversible logic was originally proposed as a way to build classical computers with very low energy requirements. Its greatest impact so far has in fact been on the field of quantum...
Perception and perspective in robotics (2007)
To a robot, the world is a sea of ambiguity, in which it will sink or swim depending on the robustness of its perceptual abilities. But robust machine perception has proven difficult to achieve. This...
Paul Fitzpatrick, Paul Michael Fitzpatrick, Paul Michael Fitzpatrick
This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those...
IEEE Intelligent Systems (2007)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati, Paulina Varchavskaia
Our group builds robots to operate in natural, social environments. The challenge of interacting with humans constrains how our robots appear physically, how they move, how they perceive the world,...
Sopade, Peter A, Hardin, Matt, Fitzpatrick, Paul, Desmee, Helene, Halley, Peter
Gelatinisation and retrogradation of starch-whey mixtures were studied in water (pH 7) using the Rapid Visco-Analyser (RVA). The starch:whey ratios ranged from 0:100 - 100:0. Wheat starch, and whey...
Sopade, Peter A, Hardin, Matt, Fitzpatrick, Paul, Desmee, Helene, Halley, Peter
Gelatinisation and retrogradation of starch-whey mixtures were studied in water (pH 7) using the Rapid Visco-Analyser (RVA). The starch:whey ratios ranged from 0:100 - 100:0. Wheat starch, and whey...
Sopade, Peter A, Hardin, Matt, Fitzpatrick, Paul, Desmee, Helene, Halley, Peter
Gelatinisation and retrogradation of starch-whey mixtures were studied in water (pH 7) using the Rapid Visco-Analyser (RVA). The starch:whey ratios ranged from 0:100 - 100:0. Wheat starch, and whey...
Sopade, Peter A, Hardin, Matt, Fitzpatrick, Paul, Desmee, Helene, Halley, Peter
Gelatinisation and retrogradation of starch-whey mixtures were studied in water (pH 7) using the Rapid Visco-Analyser (RVA). The starch:whey ratios ranged from 0:100 - 100:0. Wheat starch, and whey...
Characterizing and Processing Robot-Directed Speech (2006)
Varchavskaia, Paulina, Fitzpatrick, Paul, Breazeal, Cynthia
Humanoid robots are more suited to being generalists rather than specialists. Hence when designing a speech interface, we need to retain that generality. But speech recognition is most successful in...
Torres-Jara, Eduardo, Natale, Lorenzo, Fitzpatrick, Paul
Humans use a set of exploratory procedures to examine object properties through grasping and touch. Our goal is to exploit similar methods with a humanoid robot to enable developmental learning about...
Torres-Jara, Eduardo, Natale, Lorenzo, Fitzpatrick, Paul
Humans use a set of exploratory procedures to examine object properties through grasping and touch. Our goal is to exploit similar methods with a humanoid robot to enable developmental learning about...
Torres-Jara, Eduardo, Natale, Lorenzo, Fitzpatrick, Paul
Humans use a set of exploratory procedures to examine object properties through grasping and touch. Our goal is to exploit similar methods with a humanoid robot to enable developmental learning about...
Eduardo Torres-jara, Lorenzo Natale, Paul Fitzpatrick
Humans use a set of exploratory procedures to examine object properties through grasping and touch. Our goal is to exploit similar methods with a humanoid robot to enable developmental learning about...
Paul Fitzpatrick, Artur Arsenio
For a robot to be capable of development, it must be able to explore its environment and learn from its experiences. It must find (or create) opportunities to experience the unfamiliar in ways that...
Eduardo Torres-jara, Lorenzo Natale, Paul Fitzpatrick
Humans use a set of exploratory procedures to examine object properties through grasping and touch. Our goal is to exploit similar methods to enable developmental learning on a humanoid robot. We use...
Feel the beat: using cross-modal rhythm to integrate perception of objects, others, and self (2004)
Fitzpatrick, Paul, Arsenio, Artur
For a robot to be capable of development, it must be able to explore its environment and learn from its experiences. It must find (or create) opportunities to experience the unfamiliar in ways that...
The DayOne project: how far can a robot develop in 24 hours? (2004)
What could a robot learn in one day? This paper describes the DayOne project, an endeavor to build an epigenetic robot that can bootstrap from a very rudimentary state to relatively sophisticated...
Feel the beat: using cross-modal rhythm to integrate perception of objects, others, and self (2004)
Fitzpatrick, Paul, Arsenio, Artur
For a robot to be capable of development, it must be able to explore its environment and learn from its experiences. It must find (or create) opportunities to experience the unfamiliar in ways that...
The DayOne project: how far can a robot develop in 24 hours? (2004)
What could a robot learn in one day? This paper describes the DayOne project, an endeavor to build an epigenetic robot that can bootstrap from a very rudimentary state to relatively sophisticated...
Feel the beat: using cross-modal rhythm to integrate perception of objects, others, and self (2004)
Fitzpatrick, Paul, Arsenio, Artur
For a robot to be capable of development, it must be able to explore its environment and learn from its experiences. It must find (or create) opportunities to experience the unfamiliar in ways that...
The DayOne project: how far can a robot develop in 24 hours? (2004)
What could a robot learn in one day? This paper describes the DayOne project, an endeavor to build an epigenetic robot that can bootstrap from a very rudimentary state to relatively sophisticated...
Paul Fitzpatrick, Artur Arsenio
For a robot to be capable of development, it must be able to explore its environment and learn from its experiences. It must find (or create) opportunities to experience the unfamiliar in ways that...
Rodney Brooks, Lijin Aryan, Aaron Edsinger, Paul Fitzpatrick, Charles Kemp, Eduardo Torres-jara, ...
We report on a dynamically balancing robot with a dexterous arm designed to operate in built-for-human environments. Our initial target task has been for the robot to navigate, identify doors, open...
This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those...
This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those...
The Whole World in Your Hand: Active and Interactive Segmentation (2003)
Arsenio, Artur, Fitzpatrick, Paul, Kemp, Charles C., Metta, Giorgio
Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each...
The Whole World in Your Hand: Active and Interactive Segmentation (2003)
Arsenio, Artur, Fitzpatrick, Paul, Kemp, Charles C., Metta, Giorgio
Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each...
The Whole World in Your Hand: Active and Interactive Segmentation (2003)
Arsenio, Artur, Fitzpatrick, Paul, Kemp, Charles C., Metta, Giorgio
Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each...
Early integration of vision and manipulation (2003)
Giorgio Metta, Giorgio Metta, Paul Fitzpatrick, Paul Fitzpatrick
Vision and manipulation are inextricably intertwined in the primate brain. Tantalizing results from neuroscience are shedding light on the mixed motor and sensory representations used by the brain...
Grounding vision through experimental manipulation (2003)
Paul Fitzpatrick, Giorgio Metta
Experimentation is crucial to human progress at all scales, from society as a whole to a young infant in its cradle. It allows us to elicit learning episodes suited to our own needs and limitations....
Object lesson: discovering and learning to recognize objects (2003)
Abstract. Statistical machine learning has revolutionized computer vision. Systems trained on large quantities of empirical data can achieve levels of robustness that far exceed their hand-crafted...
Learning about objects through action: Initial steps towards artificial cognition (2003)
Paul Fitzpatrick, Giorgio Metta, Lorenzo Natale, Sajit Rao, Giulio S
Abstract — Within the field of Neuro Robotics we are driven primarily by the desire to understand how humans and animals live and grow and solve every day’s problems. To this aim we adopted a...
The whole world in your hand: Active and interactive segmentation (2003)
Artur Arsenio, Paul Fitzpatrick, Charles Kemp, Giorgio Metta
This paper presents three approaches to object segmentation, a fundamental problem in computer vision. Each approach is aided by the presence of a hand or arm in the proximity of the object to be...
Object lesson: discovering and learning to recognize objects (2003)
Abstract. Statistical machine learning has revolutionized computer vision. Systems trained on large quantities of empirical data can achieve levels of robustness that far exceed their hand-crafted...
Shoes as a platform for vision (2003)
Paul Fitzpatrick, Charles C. Kemp
We explore the use of a shoe-mounted camera as a sensory system for wearable computing. We demonstrate tools useful for gait analysis, obstacle detection, and context recognition. Using only visual...
The whole world in your hand: Active and interactive segmentation (2003)
Artur Arsenio, Paul Fitzpatrick, Charles C. Kemp, Giorgio Metta
Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each...
Shoes as a platform for vision (2003)
Charles C. Kemp, Paul Fitzpatrick
What: We are exploring the use of a shoe-mounted camera as a sensory system for wearable computing. We are developing a system calledPlatform Shoe which is useful for gait analysis, obstacle...
Learning about objects through action: Initial steps towards artificial cognition (2003)
Paul Fitzpatrick, Giorgio Metta, Lorenzo Natale, Sajit Rao, Giulio S
Abstract — Within the field of Neuro Robotics we are driven primarily by the desire to understand how humans and animals live and grow and solve every day’s problems. To this aim we adopted a...
Better Vision Through Manipulation (2002)
Metta, Giorgio, Fitzpatrick, Paul
For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles - that is, which parts will move together, and which are more or less...
Better Vision Through Manipulation (2002)
Metta, Giorgio, Fitzpatrick, Paul
For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles - that is, which parts will move together, and which are more or less...
Better Vision Through Manipulation (2002)
Metta, Giorgio, Fitzpatrick, Paul
For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles - that is, which parts will move together, and which are more or less...
Better vision through manipulation (2002)
Giorgio Metta, Paul Fitzpatrick
For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles – that is, which parts will move together, and which are more or less...
Better vision through manipulation (2002)
Giorgio Metta, Paul Fitzpatrick
For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles – that is, which parts will move together, and which are more or less...
Better vision through manipulation (2002)
Giorgio Metta, Paul Fitzpatrick, Giorgio Metta, Paul Fitzpatrick
On behalf of:
Better vision through manipulation (2002)
Giorgio Metta, Paul Fitzpatrick
Vision and manipulation are inextricably intertwined in the primate brain. Tantalizing results from neuroscience are shedding light on the mixed motor and sensory representations used by the brain...
Better vision through manipulation (2002)
Giorgio Metta, Paul Fitzpatrick
For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles – that is, which parts will move together, and which are more or less...
Characterizing and processing robotdirected speech (2001)
Paul Fitzpatrick, Paulina Varchavskaia, Cynthia Breazeal
Abstract. Speech directed at infants and pets has properties that distinguish it from speech among adults [6]. Some of those properties are potentially useful for language learning. By careful design...
Active vision for sociable robots (2001)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati
In 1991, Ballard [1] described the implications of hav-ing a visual system that could actively position the camera coordinates in response to physical stimuli. In humanoid robotic systems, or in any...
Active vision for sociable robots (2001)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati
In 1991, Ballard [1] described the implications of hav-ing a visual system that could actively position the camera coordinates in response to physical stimuli. In humanoid robotic systems, or in any...
Characterizing and processing robotdirected speech (2001)
Paulina Varchavskaia, Paul Fitzpatrick, Cynthia Breazeal
Abstract. Humanoid robots are more suited to being generalists rather than specialists. Hence when designing a speech interface, we need to retain that generality. But speech recognition is most...
Characterizing and processing robotdirected speech (2001)
Paulina Varchavskaia, Paul Fitzpatrick
The Problem: Speech directed at infants and pets has properties that distinguish it from speech among adults. Some of those properties are potentially useful for language learning. By careful design...
Head Pose Estimation Without Manual Initialization (2001)
Paul Fitzpatrick Ai, Paul Fitzpatrick
This paper describes a fully automatic system for recovering the rigid components of head pose. It follows the conventional approach of tracking pose changes relative to a reference configuration....
Active vision for sociable robots (2001)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati
Abstract—In 1991, Ballard described the implications of having a visual system that could actively position the camera coordinates in response to physical stimuli. In humanoid robotic systems, or...
That certain look: social amplification of animate vision (2000)
Cynthia Breazeal, Paul Fitzpatrick
Animate vision control for a social robot poses challenges beyond issues of stability and accuracy, as well as advantages beyond computational efficiency and perceptual robustness[1]. We have found...
Social constraints on animate vision (2000)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati
Abstract. In 1991, Ballard [2] described the implications of having a visual system that could actively position the camera in response to physical stimuli. In humanoid robotic systems, or in any...
Social Constraints on Animate Vision (2000)
Cynthia Breazeal, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati
. In 1991, Ballard [2] described the implications of having a visual system that could actively position the camera in response to physical stimuli. In humanoid robotic systems, or in any animate...
Social Constraints on Animate Vision (2000)
Cynthia Breazeal Aaron, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati, Paulina Varchavskaia
vant and worth tracking. Physical form Currently, our most sophisticated robot in terms of visual-motor behavior is Kismet. This robot is an active vision head augmented with expressive facial...
Social Constraints on Animate Vision (2000)
Cynthia Breazeal Aaron, Aaron Edsinger, Paul Fitzpatrick, Brian Scassellati
In 1991, Ballard [2] described the implications of having a visual system that could actively position the camera coordinates in response to physical stimuli. In humanoid robotic systems, or in any...
Shoes as a Platform for Vision (1998)
Fitzpatrick, Paul, Kemp, Charles C.
The authors explore the use of a shoe-mounted camera as a sensory system for wearable computing. They demonstrate tools useful for gait analysis, obstacle detection, and context recognition. Using...
Object Lesson: Discovering and Learning to Recognize Objects (1998)
Statistical machine learning has revolutionized computer vision. Systems trained on large quantities of empirical data can achieve levels of robustness that far exceed their hand-crafted competitors....
The Whole World in Your Hand: Active and Interactive Segmentation (1998)
Arsenio, Artur, Fitzpatrick, Paul, Kemp, Charles C., Metta, Giorgio
Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each...
Active Vision for Sociable Robots (1998)
Breazeal, Cynthia, Edsinger, Aaron, Fitzpatrick, Paul, Scassellati, Brian
In 1991, Ballard described the implications of having a visual system that could actively position the camera coordinates in response to physical stimuli. In humanoid robotic systems, or in any...
Feel the Beat: Using Cross-Modal Rhythm to Integrate Perception of Objects, Others, and Self (1998)
Fitzpatrick, Paul, Arsenio, Artur
For a robot go to be capable of development, it must be able to explore its environment and learn from its experiences. It must find (or create) opportunities to experience the unfamiliar in ways...
Better Vision Through Manipulation (1998)
Metta, Giorgio, Fitzpatrick, Paul
For the purposes of manipulation, we would like to know what parts of the environment are physically coherent ensembles -- that is, which parts will move together, and which are more or less...
Perception and Perspective in Robotics (1998)
To a robot, the world is a sea of ambiguity, in which it will sink or swim depending on the robustness of its perceptual abilities. But robust machine perception has proven difficult to achieve. This...
Grounding Vision through Experimental Manipulation (1998)
Fitzpatrick, Paul, Metta, Giorgio
Experimentation is crucial to human progress at all scales, from society as a whole to a young infant in its cradle/ It allows us to elicit learning episodes suited to our own needs and limitations....
Open Object Recognition for Humanoid Robots (1998)
Robots must be able to adapt gracefully to frequent and dramatic changes in their workspace if they are to operate successfully in human-centered environments, as opposed to controlled industrial...
From Word-Spotting to OOV Modeling (1998)
This paper explores one dimension along which word spotting and speech recognition differ: the nature of the background model. In word spotting, a relatively small number of keywords float on a sea...
Head Pose Estimation Without Manual Initialization (1998)
This paper describes a fully automatic system for recovering the rigid components of head pose. It follows the conventional approach of tracking pose changes relative to a reference configuration....
Role Transfer for Robot Tasking (1998)
Robotics has proven most successful in narrowly defined domains that offer sufficient constraints to make automated perception and action tractable. The goal of this thesis is to take a step towards...
Social Constraints on Animate Vision (1998)
Breazeal, Cynthia, Edsinger, Aaron, Fitzpatrick, Paul, Scassellati, Brian
In 1991, Ballard described the implications of having a visual system that could actively position the camera coordinates in response to physical stimuli. In humanoid robotic systems, or in any...
Traffic modelling and performance of layered cellular networks with overflow (1997)
Bibliography: p. 131-136
Azhar, Salman, Fitzpatrick, Paul, Menon, K. M. J.
Ovarian cells isolated from 26 day old rats responded to hCG (10 ng/ml) and cholera enterotoxin (100 ng/ml) with a forty-five to fifty-fold increase in progesterone production. Both cholera...
Sarkissian, Christineh N., Gámez, Alejandra, Wang, Lin, Charbonneau, Marilyse, Fitzpatrick, Paul, Lemontt, Jeffrey F., ...
Phenylketonuria (PKU) is a metabolic disorder, in which loss of phenylalanine hydroxylase activity results in neurotoxic levels of phenylalanine. We used the Pahenu2/enu2 PKU mouse model in short-...