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Robots and Brains Andrew Ng, Associate Professor of Computer Science 1 Who wants a robot to clean your house? [Photo Credit: iRobot] 2 Stanford AI Robot [Credit: Ken Salisbury] 3 5 What’s missing? The software Control 6 Perception Stanford autonomous helicopter 7 Stanford autonomous helicopter GPS Accelerometers Compass 9 10 [Courtesy of David Shim] 12 Machine learning 14 Machine learning to fly helicopter 15 What’s missing? The software Control 16 Perception “Robot, please find my coffee mug” 17 “Robot, please find my coffee mug” Mug Mug Mug Mug Mug 18 Mug Mug Why is computer vision hard? But the camera sees this: 19 Computer programs (features) for vision 20 SIFT GIST HoG Shape context Textons Spin image Why is speech recognition hard? What a microphone records: “Robot, please find my coffee mug.” 21 Computer programs (features) for audio Spectrogram Flux 22 MFCC ZCR Rolloff The idea: Most of perception in the brain may be one simple program. 23 The “one program” hypothesis Auditory Cortex Auditory cortex learns to see [Roe et al., 1992] 24 Neurons in the brain 26 Neural Network (Sparse Learning) x1 x2 Output x3 Layer L4 x4 Layer L1 27 Layer L3 Layer L2 How does the brain process images? Visual cortex looks for lines/edges. Neuron #1 of visual cortex (model) 28 Neuron #2 of visual cortex (model) Comparing to Biology Visual cortex 29 Learning algorithm Comparing to Biology Auditory cortex 30 Learning algorithm Correctly found mug 33 Mistake Correctly found mug 34 Mistake Correctly found mug 35 Mistake Correctly found mug 36 Mistake Hope of progress in Artificial Intelligence Email: [email protected] 37 Comparing to Biology Auditory cortex 10 10 10 10 20 20 20 20 30 30 30 30 40 40 40 40 Learning algorithm 50 60 20 40 40 30 50 40 60 50 50 30 30 30 30 30 50 40 40 40 40 40 60 50 50 50 50 50 60 60 60 60 60 40 60 60 80 50 60 20 20 40 40 60 60 80 2080 40 60 80 20 40 60 80 20 40 60 80 10 10 10 10 20 20 20 20 20 20 10 30 10 30 30 30 30 30 20 40 30 50 20 40 40 40 40 40 30 50 50 50 50 50 40 60 60 20 40 60 8050 20 40 60 80 60 60 20 40 20 60 40 80 60 20 40 60 80 60 10 10 20 20 30 30 40 40 50 50 60 60 80 60 20 40 60 60 2080 40 60 80 20 40 20 40 60 40 10 50 60 20 10 40 60 42 30 20 40 20 80 20 20 80 60 80 30 20 60 80 40 60 20 20 40 60 20 40 20 10 30 20 40 20 20 40 20 80 20 10 30 20 60 10 10 80 60 10 10 60 50 10 10 40 60 50 60 10 10 20 40 50 80 Missed Mugs 51 True positives False positives Missed Mugs 52 True positives False positives Missed Mugs 53 True positives False positives Missed Mugs 54 True positives False positives