| Sensorimotor Control and Robotics
|
We are interested in understanding the human sensory motor system from
a mathematical, computational and engineering point of view. To do
this, we need to use concepts from control theory, optimization,
machine learning and statistics, as well as experimental methods based
on human psychophysics and virtual reality. These formal tools are
also useful for advancing robotics and decision theory.
Some relevant publications:
- Wolpert, D. M. and Ghahramani, Z. (to appear)
Bayes rule in perception, action and
cognition.
Gregory, R.L. (ed) The Oxford Companion to the Mind.
- Tuttle, E. and Ghahramani, Z. (2004)
Propagating Uncertainty in POMDP Value
Iteration with Gaussian Processes [ps] [pdf]
Gatsby Unit Technical
Report.
- Thrun, S., Koller, D., Ghahramani, Z., Durrant-Whyte, H. and Ng
A.Y. (2004)
Simultaneous Mapping and Localization With Sparse
Extended Information Filters.
In J.-D. Boissonnat,
J. Burdick, K. Goldberg and S. Hutchinson (eds.)
Algorithmic
Foundations of Robotics V. Springer-Verlag.
- Thrun, S., Liu, Y., Koller, D.,Ng, A.Y., Ghahramani, Z.,
Durrant-Whyte, H. (2004)
Simultaneous Localization and Mapping With
Sparse Extended Information Filters.
International Journal of
Robotics Research. 23(7/8): 693-716.
- Korenberg, A.T. and Ghahramani, Z. (2002) A Bayesian view of motor adaptation.
Current Psychology of Cognition 21 (4-5): 537-564.
-
Wolpert DM,
Ghahramani Z, Flanagan JR (2001)
Perspectives and problems in motor learning
Trends in Cognitive Science 5(11):487-494.
- Wolpert, D.M. and
Ghahramani, Z. (2000)
Computational Principles of
Movement Neuroscience .
Nature Neuroscience
3 supp:1212--1217.
- Ghahramani,
Z. (2000)
Building blocks of
movement (News & Views, on Thoroughman and Shadmehr article).
Nature
407:682--683.
- Ghahramani, Z. and Wolpert, D.M. (1997)
Modular
Decomposition in Visuomotor Learning
Nature 386:392-395. [abstract]
- Ghahramani, Z., Wolpert, D.M. and Jordan, M.I. (1997)
Computational
Models of Sensorimotor Integration
In P. G. Morasso and
V. Sanguineti (eds.), Self-Organization, Computational Maps and
Motor Control, Elsevier Press, pp. 117-147. [abstract] [postscript] [pdf]
- Ghahramani, Z., Wolpert, D.M. and Jordan, M.I. (1996)
Generalization
to Local Remappings of the Visuomotor Coordinate
Transformation
Journal of Neuroscience 16:7085-7096. [abstract] [pdf]
- Wolpert, D.M., Ghahramani, Z. and Jordan, M.I. (1995)
An Internal
Model for Sensorimotor Integration
Science 269:
1880-1882. [abstract]
- Ghahramani, Z., Wolpert, D.M. and Jordan, M.I. (1995)
Computational
structure of coordinate transformations: A generalization study
In G. Tesauro, D.S. Touretzky, and J. Alspector (eds.), Advances
in Neural Information Processing Systems 7 [8 pages] [abstract]
- Ghahramani, Z. (1995)
Computation
and Psychophysics of Sensorimotor Integration
Ph.D. Thesis,
Dept. of Brain and Cognitive Sciences, Massachusetts Institute of
Technology, 171 pages, 1 MB. [abstract]