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Variable-speed teaching–playback as real-world data augmentation for imitation learning

Advanced Robotics 2025年

作者： Masuya, Nozomu Sato, Hiroshi Yamane, Koki Kusume, Takuya Sakaino, Sho Tsuji, Toshiaki Doctoral Program in Intelligent and Mechanical Interaction Systems Degree Programs in Systems and Information and Engineering Graduate School of Science and Technology University of Tsukuba Tsukuba Japan Master’s Program in Intelligent and Mechanical Interaction Systems Degree Programs in Systems and Information and Engineering Graduate School of Science and Technology University of Tsukuba Tsukuba Japan Department of Intelligent Interaction Technologies Institute of Systems and Information Engineering University of Tsukuba Tsukuba Japan Graduate School of Science and Engineering Saitama University Saitama Japan

Imitation learning’s inevitable reliance on human demonstrations in hard-to-simulate settings has resulted in a shortage of training data, even with a simple change in speed. Although the field of data augmentation has addressed the lack of data, conventional methods of data augmentation for robot manipulation are limited to simulation-based methods or downsampling for position control. This paper proposes a novel method of data augmentation that is applicable to force control and preserves the advantages of real-world datasets. We applied teaching–playback at variable speeds as real-world data augmentation to increase both the quantity and quality of environmental reactions at variable speeds. An experiment was conducted on bilateral control-based imitation learning using a method of imitation learning equipped with position–force control. We evaluated the effect of real-world data augmentation on two tasks, pick-and-place and wiping, at variable speeds, each from two human demonstrations at fixed speed. The results showed that generation of variable-speed movement from human demonstrations with less than 10% variety of durations is feasible, and improved success rate and accuracy along the duration/frequency command by gathering environmental reactions at variable speeds, rather than simply altering speeds of gathered data. © 2025 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan.

关键词： Demonstrations

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Coevolution of Myoelectric Hand Control under the Tactile Interaction among Fingers and Objects

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Cyborg and Bionic Systems 2022年第1期2022卷 285-302页

作者： Yuki Kuroda Yusuke Yamanoi Shunta Togo Yinlai Jiang Hiroshi Yokoi Joint Doctoral Program for Sustainability Research Graduate School of Informatics and Engineering The University of Electro-CommunicationsTokyoJapan Department of Mechan ical and Intelligent System Engineering Graduate School of Informatics and Engineering The University of Electro Communications TokyoJapan Center for Neuroscience and Biomedical Engineering The University of Electro Communications TokyoJapan Bejing Innovation Center for Inelligent Robots and Systems BeijingChina

The usability of a prosthetic hand difers significantly from that of a real ***,the complexity of manipulation increases as the number of degrees of freedom to be controlled increases,making manipulation with biological signals extremely *** overcome this problem,users need to select a grasping posture that is adaptive to the object and a stable grasping method that prevents the object from *** previous studies,these have been left to the operating skills of the user,which is extremely difficult to *** this study,we demonstrate how stable and adaptive grasping can be achieved according to the object regardless of the user's operation *** required grasping technique is achieved by determining the correlation bet ween the motor output and each sensor through the interaction between the prosthetic hand and the surrounding stimuli,such as myoelectricity,sense of touch,and grasping *** agents of the 16 DOF robot hand were trained with the myoelectric signals of six participants,including one child with a congenital forearm ***,each agent could open and close the hand in response to the myoeletric stimuli and could accomplish the object pickup *** the tasks,the agents successfully identified grasping patterns suitable for practical and stable positioning of the *** addition,the agents were able to pick up the object in a similar posture regardless of the partiipant,suggesting that the hand was optimized by evolutionary computation to a posture that prevents the object from being dropped.

关键词： robot Objects overcome

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A Player Position Tracking Method Based on a Wide-Area Pan-Tilt-Zoom Video 12

A Player Position Tracking Method Based on a Wide-Area Pan-T...

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Proceedings of the 12th International Conference on Sport Sciences Research and Technology Support, icSPORTS 2024

作者： Yamagishi, Shunzo Xie, Chun Shishido, Hidehiko Kitahara, Itaru Master's and Doctoral Program in Intelligent Mechanical Interaction Systems University of Tsukuba Ibaraki Japan Center for Computational Sciences University of Tsukuba Ibaraki Japan Faculty of Science and Engineering Department of Information Systems Engineering Soka University Tokyo Japan

ISBN: (纸本)9789897587191

This paper proposes a method to estimate the posture of an athlete moving on a vast field in a sporting event using a pan-tilt-zoom camera. In order to estimate the posture of an athlete on a sports field from a dynamic video sequence, our method extracts image features to search correspondence points among successive frames and computes the homography transformation matrix that compensates for changes the camera parameters (e.g., angle of view and posture). The effectiveness of this method is qualitatively verified using MLB TV broadcast video. The accuracy and error factors are also quantitatively verified by CG simulation. Copyright © 2024 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Pan-Tilt-Zoom Camera Player Tracking Sports Analytics Video Processing Wide-Area

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Development of a Hybrid Actuation Hand Exoskeleton with Redundant Compliant Mechanisms 16

Development of a Hybrid Actuation Hand Exoskeleton with Redu...

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16th International Congress on Image and Signal Processing, BioMedical engineering and Informatics, CISP-BMEI 2023

作者： Shu, Bairui Sun, Zhenyu Zhang, Xinyu Yokoi, Hiroshi Jing, Xiaobei Li, Guanglin Yong, Xu The Siat Branch Shenzhen518055 China The University of Electro-Communications Department of Mechanical Engineering and Intelligent Systems Tokyo182-8585 Japan The University of Electro-Communications Joint Doctoral Program for Sustainability Research Tokyo182-8585 Japan

ISBN: (纸本)9798350330755

Exoskeleton robots are currently widely used in the field of rehabilitation medicine to effectively assist patients with hand function loss in their rehabilitation training. To accommodate the physiological characteristics of the hand, particularly the deviation of the joint rotation axis, this paper proposes a hybrid-driven hand exoskeleton system with redundant compliant mechanisms and conducts motion and force analysis on it. The exoskeleton system can independently drive three fingers and drive their joints separately. To verify whether the exoskeleton system meets the rehabilitation requirements, angle verification experiments and object grasping experiments were conducted. The results showed that the maximum joint range of motion of the exoskeleton system reached 66 °, with an average joint range of motion of 55 ° , fully meeting the rehabilitation needs. © 2023 IEEE.

关键词： Patient rehabilitation

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Application of Digital Gamification Systems in intelligent Automated Learning 10th

Application of Digital Gamification Systems in Intelligent A...

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10th International Conference on Kansei engineering and Emotion Research, KEER 2024

作者： Lee, Chein-Hui Saputri, Evelyn Chiu, Min-Chi Department of Information Technology Ling Tung University Taichung Taiwan Doctoral Program of Intelligent Engineering National Taichung University of Science and Technology Taichung Taiwan Department of Intelligent Manufacturing Technology Ling Tung University Taichung Taiwan Department of Multimedia Design National Taichung University of Science and Technology Taichung Taiwan

ISBN: (纸本)9789819798896

This study aims to develop an innovative digital game-based teaching platform designed to facilitate students’ learning of intelligent automation-related knowledge through immersive game scenarios. This method offers significant advantages, including the provision of an engaging and challenging learning environment that encourages active student participation while fostering critical thinking and problem-solving skills. Students can apply the knowledge they acquire in practical game contexts, thereby enhancing their learning outcomes, aligning with the contemporary educational demand for diversified teaching approaches. Furthermore, this pedagogical strategy effectively stimulates students’ motivation to learn by engaging them in problem-solving and task completion activities, consequently improving their learning efficiency. More importantly, it emphasizes not just the transmission of knowledge but also the cultivation of students’ cognitive abilities and problem-solving skills, which are crucial for their future academic and professional development. By integrating educational content with interactive game elements, the platform can adapt to various learning paces and styles, making education more personalized and accessible. Overall, this study aims to provide students with a highly engaging and efficient learning method that meets the modern educational requirements for innovative teaching models, thereby significantly improving students’ learning outcomes and addressing their educational needs. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Contrastive Learning

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Adversarially Robust Reinforcement Learning for Urban Traffic Signal Control 5

Adversarially Robust Reinforcement Learning for Urban Traffi...

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5th IEEE International Conference on Technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Hamzah, Muhammad Shafly Joelianto, Endra Sutarto, Herman Yoseph Putri, Adiyana Institut Teknologi Bandung Instrumentation and Control Master Program Bandung Indonesia Institut Teknologi Bandung Instrumentation Control and Automation Research Group Bandung Indonesia PT. Pusat Riset Energi Department of Intelligent System Bandung Indonesia Institut Teknologi Bandung Doctoral Program of Engineering Physics Bandung Indonesia

ISBN: (纸本)9798350364743

Urban traffic congestion presents critical challenges, resulting in delays, environmental pollution, and significant economic costs. While traditional traffic control methods, such as fixed-time and adaptive systems, have been widely implemented, they often fail in unpredictable conditions, particularly when confronted with noisy or inaccurate data. This research proposes a robust reinforcement learning (RL) solution for traffic signal control using the RADIAL-DQN (Robust Adversarial Loss DQN) algorithm. Integrating adversarial training enhances the system's robustness to real-world uncertainties. Evaluations conducted using a SUMO traffic simulation show that the robust agent produced an increase of only 60.71% in queue length under a projected gradient descent (PGD) adversarial attack, outperforming standard RL agents, which experienced an 89% increase. These results demonstrate the potential of robust RL to improve both the reliability and scalability of urban traffic control systems. © 2024 IEEE.

关键词： Traffic signals

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A LoRaWAN Enabled Sensor-Based System for Detecting Rodent Activity 21

A LoRaWAN Enabled Sensor-Based System for Detecting Rodent A...

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21st International System-on-Chip Design Conference, ISOCC 2024

作者： Wang, Szu-Ting Wu, Shang-Sian Tseng, Kuo-Cheng Hsu, Li-Chuan Ke, Song-Min Lai, Shin-Chi National Formosa University The Doctoral Degree Program in Smart Industry Technology Research and Development Huwei Taiwan National Formosa University Dept. Automation Engineering Huwei Taiwan National Formosa University Dept. Automation Engineering & Smart Machinery Intelligent Manufacturing Research Center Huwei Taiwan

ISBN: (纸本)9798350377088

This study presents the design and implementation of a sensor-based system for detecting rodent activity. The proposed system utilizes infrared (IR) receivers for detecting rodent presence and can incorporate IP cameras to capture intruder images. Data collected by sensor nodes are transmitted to a database via Wi-Fi for web access. The system employs a reflective-type IR sensor comprising an emitter and a receiver aligned in the same direction to discern approaching or receding objects. Power-efficient operation is ensured through the use of the Heltec Wireless Stick Lite MCU and LoRa transceivers for data transmission. Results demonstrate the system's effectiveness in monitoring rodent behavior, with power consumption averaging 67.4mA to 69.5mA, supported by two 18650 batteries for up to 4 days of continuous operation. During the 18-day experiment duration, a total of 1,453 instances were recorded. © 2024 IEEE.

关键词： Wi-Fi

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Estimation of Wrist Chattering Angle Based on Disturbance Observer 16

Estimation of Wrist Chattering Angle Based on Disturbance Ob...

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16th International Congress on Image and Signal Processing, BioMedical engineering and Informatics, CISP-BMEI 2023

作者： Zhang, Xinyu Sun, Zhenyu Shu, Bairui Yokoi, Hiroshi Yong, Xu Li, Guanglin Jing, Xiaobei The Siat Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China The University of Electro-Communications Joint Doctoral Program for Sustainability Research Tokyo182-8585 Japan The University of Electro-Communications Department of Mechanical Engineering and Intelligent Systems Tokyo182-8585 Japan

ISBN: (纸本)9798350330755

Due to the physiological constraints and daily habits of hand movements, the wrist chattering effect (WCE) will inadvertently cause disturbance to the accuracy of fingers' pattern recognition, when healthy subjects or amputees undergoing mirror training control their fingers according to instructions. This paper proposes a method for estimating WCE angles using a disturbance observer. Based on the Denavit-Hartenberg (D-H) convention and inverse kinematics, the intervals of the WCE during finger flexion and extension are determined. The research objective is to eliminate disturbance terms containing redundant information referring to sliding mode anti-jittering methods, making subsequent machine learning models less susceptible to disturbances. © 2023 IEEE.

关键词： Inverse kinematics

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Design of a Multilingual Translation System with Personalized Voice Characteristics 21

Design of a Multilingual Translation System with Personalize...

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21st International System-on-Chip Design Conference, ISOCC 2024

作者： Chen, Chen-Hua Lai, Guan-Yu Lee, Chuan Wu, Chang-Yu Liu, Kuan-Lin Lai, Shin-Chi Doctoral Degree Program in Smart Industry Technology Research and Development Huwei Taiwan National Formosa University Dept. of Automation Engineering Huwei Taiwan National Yunlin University of Science and Technology Dept. Electronics Engineering Douliu Taiwan National Formosa University Dept. Automation Engineering Smart Machinery and Intelligent Manufacturing Research Center Huwei Taiwan

ISBN: (纸本)9798350377088

This study combines AI voice synthesis with IoT to create a real-time multilingual translation system. Front-end devices capture the speaker's voice, which is then played back in both original and translated forms, enabling consecutive interpreting. This system is ideal for multilingual scenarios. After digitization, audio signals undergo speech-to-text conversion, multilingual translation, and text-to-speech processing. Speech synthesis matches the speaker's voice characteristics, allowing listeners to hear the translation in the speaker's voice. Both voice-to-text conversion and translated audio playback use Wi-Fi for data transmission, facilitating future applications. In validation, the average translation and transmission time for each speech segment were 410 ms and 3.38 s, respectively. The synthesized voice similarity analysis achieved an accuracy of 88%, showcasing the method's potential for system integration and development. © 2024 IEEE.

关键词： Wi-Fi

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Optional Hyperparameter Tuning of Convolutional Neural Network for ECG Classification

Optional Hyperparameter Tuning of Convolutional Neural Netwo...

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International Conference on Informatics, Multimedia, Cyber and Information System (ICIMCIS)

作者： Muhamad Akbar Siti Nurmaini Radiyati Umi Partan Doctoral Program of Engineering Science Fakulty of Engineering Universitas Sriwijaya Palembang Indonesia Intelligent System Research Group Universitas Sriwijaya Palembang Indonesia Faculty of Medicine Universitas Sriwijaya Palembang Indonesia

Although deep learning has resulted in tremendous success for image classification processing, speech processing, and video detection processing applications in recent years, most of the training uses sub-optimal hyperparameters, requiring unnecessarily long training time. The Setting hyperparameters remains a black box which requires considerable experience to acquire. This study proposes several efficient ways to adjust hyperparameters that significantly reduce training time and improve model performance. Hyperparameters are used for the classification of arrhythmias. Classification is used for 16 classes that get an accuracy value 98.88%. Apart from tuning learning rate and batch size, this research also tried several scenarios of optimizer, ratio training set, validation set, and testing set; where the ratio 70 : 10 : 20 makes a significant contribution to the accuracy value.

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