Publications

Embodied Intelligence Laboratory

Some related publications:

General philosophy:

J. Weng, J. McClelland, A. Pentland, O. Sporns, I. Stockman, M. Sur and E. Thelen, ``Autonomous Mental Development by Robots and Animals,'' Science, vol. 291, no. 5504, pp. 599 - 600, Jan. 26, 2000. Download PDF file.

J. Weng, ``The Developmental Approach to Intelligent Robots,'' in Proc. 1998 AAAI Spring Symposium Series, Integrating Robotic Research: Taking The Next Leap , Stanford University, March 23-25, 1998. Download PDF file.

J. Weng, ``The Living Machine Initiative,'' Technical Report MSU-CPS-96-60, Department of Computer Science, MSU, December 1996. Download PDF file. The revised version appeared in J. Weng, ``Learning in Computer Vision and Beyond: Development,'' in C. W. Chen and Y. Q. Zhang (eds.), ``Visual Communication and Image Processing , Marcel Dekker Publisher, New York, NY, 1999. Download PDF file.

General theory:

J. Weng, "Developmental Robotics: Theory and Experiments'' International Journal of Humanoid Robotics, vol. 1, no. 2, 2004. Download PDF file.
J. Weng, "A Theory for Mentally Developing Robots,'' in Proc. 2nd International Conference on Development and Learning, June 12 - 15, MIT, Cambridge, MA, IEEE Computer Society Press, 2002. Download PS file or PDF file.

Task muddiness and performance matrics:

J. Weng, "Muddy Tasks and the Necessity of Autonomous Mental Development," in Proc. 2005 AAAI Spring Symposium Series, Developmental Robotics Symposium, Stanford University, March 21-23, 2005. Download PDF file.

Overview of related projects at the EI Lab:

J. Weng and Y. Zhang, ``Developmental Robots: A New Paradigm,'' an invited paper in Proc. Second International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems, Edinburgh, Scotland, August 10 - 11, 2002. Download PDF file.

Architecture:

J. Weng, `` On Developmental Mental Architectures,'' Neurocomputing, vol. 70, no. 13-15, pp. 2303-2323, 2007. Download PDF file.

J. Weng, ``A Theory of Developmental Architecture,'' in Proc. 3rd International Conference on Development and Learning (ICDL 2004), La Jolla, CA, Oct. 20-23, 2004. Download PDF file.

LCA: Biologically inspired single-layer network:

J. Weng and N. Zhang, ``In-Place Learning and the Lobe Component Analysis,'' in Proc. IEEE World Congress on Computational Intelligence, International Joint Conference on Neural Networks, Vancouver, BC, Canada, July 16-21, 2006. Download PDF file.

MILN: Biologically inspired sensorimotor pathway:

J. Weng, H. Lu, T. Luwang and X. Xue, ``Multilayer In-place Learning Networks for Modeling Functional Layers in the Laminar Cortex'' Neural Networks, accepted and to appear in 2008. Download PDF file.

M. D. Luciw and J. Weng, ``Topographic Class Grouping with Applications to 3D Object Recognition'' in Proc. IEEE World Congress on Computational Intelligence, International Joint Conference on Neural Networks, accepted and to appear in 2008. Download PDF file.

J. Weng, H. Lu, T. Luwang and X. Xue, ``A Multilayer In-Place Learning Network for Development of General Invariances,'' International Journal of Humanoid Robotics, vol. 4, no. 2, 2007. Download PDF file.

J. Weng, H. Lu, T. Luwang and X. Xue, ``In-Place Learning for Positional and Scale Invariance,'' in Proc. IEEE World Congress on Computational Intelligence , International Joint Conference on Neural Networks, Vancouver, BC, Canada, July 16-21, 2006. Download PDF file.

J. Weng and Matthew D. Luciw, ``Optimal In-Place Self-Organization for Cortical Development: Limited Cells, Sparse Coding and Cortical Topology,'' in Proc. 5th International Conference on Development and Learning (ICDL'06) , Bloomington, IN, USA, May 31 - June 3, 2006. Download PDF file.

Sensory mapping engine (early processing):

N. Zhang, J. Weng and Z. Zhang, ``A Developing Sensory Mapping for Robots,'' in Proc. 2nd International Conference on Development and Learning, June 12 - 15, MIT, Cambridge, MA, IEEE Computer Society Press, 2002. Download PDF file.

J. Weng, Y. Zhang and W. Hwang, ``Candid Covariance-free Incremental Principal Component Analysis,'' IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 25, no. 8, 2003. Download PDF file. Matlab program. Program package with test set.

J. Weng and M. D. Luciw, ``Optimal In-Place Self-Organization for Cortical Development: Limited Cells, Sparse Coding and Cortical Topography,'' in Proc. 5th International Conference on Development and Learning, May 30 - June 3, Bloomgton, IN, 2006. Download PDF file.

Cognitive mapping engine (later processing):

W. Hwang and J. Weng, "Hierarchical Discriminant Regression'', IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 22, no. 11, pp. 1277-1293, November 2000. (Batch HDR.) Download PDF file.
J. Weng and W. Hwang, "An incremental learning algorithm with automatically derived discriminating features'', in Proc. Asian Conference on Computer Vision, Taipei, Taiwan, pp. 426 - 431, Jan. 8 - 9, 2000. (Incremental HDR.) Download PDF file.
J. Weng and W. Hwang, "Online Image Classification Using IHDR," International Journal on Document Analysis and Recognition, vol. 5, no. 2-3, pp. 118-125, 2003. Download PDF file.

In situ co-acquisition of audition and speech recognition behavior：

Y. Zhang, J. Weng and W. Hwang, "Auditory Learning: A Developmental Method," IEEE Transactions on Neural Networks, vol. 16, no. 3, pp. 601-616, 2005. Download PDF file.

In situ co-acquisition of vision, early spoken language and behavior：

Y. Zhang and J. Weng, "Conjunctive Visual and Auditory Development via Real-Time Dialogue,'' in Proc. 3rd International Workshop on Epigenetic Robotics, Boston, MA, pp. 974 - 980, August 4-5, 2003. Download PDF file.

From simple to complex perception-based behavior sequences:

Y. Zhang and J. Weng, ``Action Chaining by a Developmental Robot with a Value System,'' in Proc. 2nd International Conference on Development and Learning, June 12 - 15, MIT, Cambridge, MA, IEEE Computer Society Press, 2002. Download PDF file.

The motivational (value) system:

X. Huang and J. Weng, "Novelty and Reinforcement Learning in the Value System of Developmental Robots," in Proc. Second International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems, Edinburgh, Scotland, August 10 - 11, 2002. Download PDF file.

Learning to speak (high-dimensional motor space using reinforcement learning):

A. Joshi and J. Weng, "Autonomous mental development in high dimensional context and action spaces,'' Neural Networks, vol. 16, no. 5-6, pp. 701-710, 2003. Download PDF file.

Application to Vehicle-Based Robots

Z. Ji, M. D. Luciw, J. Weng, S. Zeng, and V. Sadekar, ``A Biologically-Motivated Developmental System Towards Perceptual Awareness in Vehicle-Based Robots'' in Proc. 7th International Conference on Epigenetic Robotics, Piscataway, NJ, Nov 5-7, 2007. Download PDF file.

Application of Developmental Vision to Part Inspection in Manufacturing:

G. Abramovich, J. Weng and D. Dutta, "Adaptive Part Inspection through Developmental Vision," Journal of Manufacturing Science and Engineering, vol. 127, no. 4, pp. 846-856, Nov. 2005. Download PDF file.

The "innate physical world knowledge" issue and multimodal interactions to learn physical world knowledge:

J. Weng, Y. Zhang and Y. Chen, "Developing Early Senses about the World: `Object Permanence' and Visuoauditory Real-time Learning,'' in Proc. International Joint Conf. on Neural Networks, Portland, OR, pp. 2710 - 2715, July 20-24, 2003. Download PDF file.

Dav:

S. Zeng and J. Weng, ``Online-learning and attention-based approach to obstacle avoidance using a range finder," Journal of Intelligent and Robotic Systems, vol. 43, no. 2, June 2005. Download PDF file.
S. Zeng and J. Weng, ``Obstacle Avoidance through Incremental Learning with Attention Selection,'' in Proc. IEEE Int'l Conf. on Robotics and Automation, New Orleans, Louisiana, pp. 115-121, April 26 - May 1, 2004. Download PDF file.
J. D. Han, S. W. Zeng, K. Y. Tham, M. Badgero and J. Weng, ``Dav: A Humanoid Robot Platform for Autonomous Mental Development,'' in Proc. 2nd International Conference on Development and Learning, June 12 - 15, MIT, Cambridge, MA, IEEE Computer Society Press, 2002. Download PDF file.

SAIL-2:

Y. Zhang and J. Weng, ``Grounded Auditory Development by a Developmental Robot,'' in Proc. INNS/IEEE International Joint Conference of Neural Networks 2001 (IJCNN 2001), Washington DC, pp. 1059-1064, July 14-19, 2001. Download PDF file.
J. Weng, W. S. Hwang, Y. Zhang, C. Yang and R. Smith, ``Developmental Humanoids: Humanoids that Develop Skills Automatically,'' in the Proc. the first IEEE-RAS International Conference on Humanoid Robots, Cambridge, MIT, Sept. 7-8, 2000. Download PDF file.
J. Weng, C. H. Evans and W. S. Hwang, ``An Incremental Learning Method for Face Recognition under Continuous Video Stream,'' in Proc. Fourth International Conference on Automatic Face and Gesture Recognition, Grenoble, France. March 28 - 30, 2000. Download PDF file.
J. Weng, W. S. Hwang, Y. Zhang and C. Evans, ``Developmental robots: Theory, Method and Experimental Results,'' in Proc. 2nd Int'l Symposium on Humanoid Robots, Tokyo, Japan, pp. 57- 64, Oct. 8- 9, 1999. Download PDF file.

SAIL-1:

J. Weng, C. Evans, W. S. Hwang, and Y. B. Lee, ``The Developmental Approach to Artificial Intelligence: Concepts, Developmental Algorithms and Experimental Results'' in Proc. NSF Design & Manufacturing Grantees Conference, , Queen Mary, Long Beach, CA, Jan 5-8, 1999. Also, Technical Report MSU-CPS-98-25, July, 1998. Download PDF.
J. Weng, Y. B. Lee and C. H. Evans, ``The developmental approach to multimedia speech learning,'' in Proc. IEEE Int'l Conf. on Acoustics, Speech, and Signal Processing, Phoenix, Arizona, vol. 6, pp. 3093 - 3096, March 15 - 19, 1999. Download PDF file.