Robots and Brains
Andrew Ng, Director, Stanford Artificial Intelligence Lab
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Who wants a robot to clean your house?
[Photo Credit: I, Robot]
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Stanford AI Robot
[Credit: Ken Salisbury]
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What’s missing?
The software
Control
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Perception
Stanford autonomous helicopter
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Stanford autonomous helicopter
GPS
Accelerometers
Compass
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[Courtesy of David Shim]
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Machine learning
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Machine learning to fly helicopter
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What’s missing?
The software
Control
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Perception
“Robot, please find my coffee mug”
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“Robot, please find my coffee mug”
Mug
Mug
Mug
Mug
Mug
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Mug
Mug
Why is computer vision hard?
But the camera sees this:
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Computer programs (features) for vision
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SIFT
GIST
HoG
Shape context
Textons
Spin image
Why is speech recognition hard?
What a microphone records:
“Robot, please find my coffee mug.”
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Computer programs (features) for audio
Spectrogram
Flux
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MFCC
ZCR
Rolloff
The idea:
Most of perception in the brain
may be one simple program.
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The “one program” hypothesis
Auditory Cortex
Auditory cortex learns to see
[Roe et al., 1992]
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The “one program” hypothesis
Somatosensory Cortex
Somatosensory cortex learns to see
[Metin & Frost, 1989]
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Neurons in the brain
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Neural Network (Sparse Learning)
x1
x2
Output
x3
Layer L4
x4
Layer L1
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Layer L3
Layer L2
How does the brain process images?
Visual cortex looks for lines/edges.
Neuron #1 of visual cortex
(model)
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Neuron #2 of visual cortex
(model)
Comparing to Biology
Visual cortex
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Learning algorithm
Comparing to Biology
Auditory cortex
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Learning algorithm
Computer vision results (NORB benchmark)
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Classical computer
vision (SVM):
Neural Network:
accuracy
accuracy
Correctly found mug
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Mistake
Correctly found mug
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Mistake
Correctly found mug
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Mistake
Correctly found mug
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Mistake
Hope of progress in
Artificial Intelligence
Email: ang@cs.stanford.edu
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Comparing to Biology
Auditory cortex
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Learning algorithm
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Missed Mugs
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True positives
False positives
Missed Mugs
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True positives
False positives
Missed Mugs
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True positives
False positives
Missed Mugs
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True positives
False positives