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检索条件"机构=Intelligent Systems and Robotics Lab"

共 579 条记录，以下是481-490 订阅

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Agent self-assessment: Determining policy quality without execution

Agent self-assessment: Determining policy quality without ex...

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning

作者： Hans, Alexander Duell, Siegmund Udluft, Steffen Neuroinformatics and Cognitive Robotics Lab Ilmenau University of Technology Ilmenau Germany Machine Learning Group Berlin Institute of Technology Berlin Germany Intelligent Systems and Control Siemens AG Corporate Technology Munich Munich Germany

ISBN: (纸本)9781424498888

With the development of data-efficient reinforcement learning (RL) methods, a promising data-driven solution for optimal control of complex technical systems has become available. For the application of RL to a technical system, it is usually required to evaluate a policy before actually applying it to ensure it operates the system safely and within required performance bounds. In benchmark applications one can use the system dynamics directly to measure the policy quality. In real applications, however, this might be too expensive or even impossible. Being unable to evaluate the policy without using the actual system hinders the application of RL to autonomous controllers. As a first step toward agent self-assessment, we deal with discrete MDPs in this paper. We propose to use the value function along with its uncertainty to assess a policy's quality and show that, when dealing with an MDP estimated from observations, the value function itself can be misleading. We address this problem by determining the value function's uncertainty through uncertainty propagation and evaluate the approach using a number of benchmark applications. © 2011 IEEE.

关键词： Reinforcement learning

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Ensemble usage for more reliable policy identification in reinforcement learning 19

Ensemble usage for more reliable policy identification in re...

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19th European Symposium on Artificial Neural Networks, ESANN 2011

作者： Hans, Alexander Udluft, Steffen Ilmenau University of Technology Neuroinformatics and Cognitive Robotics Lab P.O. Box 100565 IlmenauD-98684 Germany Siemens AG Corporate Technology Intelligent Systems and Control Otto-Hahn-Ring 6 MunichD-81739 Germany

ISBN: (纸本)9782874190445

Reinforcement learning (RL) methods employing powerful function approximators like neural networks have become an interesting approach for optimal control. Since they learn a policy from observations, they are also applicable when no analytical description of the system is available. Although impressive results have been reported, their handling in practice is still hard, as they can fail at reliably determining a good policy. In previous work, we used ensembles of policies from independent runs of neural fitted Q-iteration (NFQ) to produce successful policies more reliably. In this paper we evaluate the approach on more problems and propose to form ensembles from successive iterations of a single NFQ run as a computationally cheap alternative to completely independent runs. © European Symposium on Artificial Neural Networks. All rights reserved.

关键词： Iterative methods

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Control of legged robots with optimal distribution of contact forces

Control of legged robots with optimal distribution of contac...

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2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011

作者： Righetti, Ludovic Buchli, Jonas Mistry, Michael Schaal, Stefan Computational Learning and Motor Control Lab. University of Southern California Los Angeles CA 90089 United States Max Planck Institute for Intelligent Systems Tübingen Germany Dept. of Advanced Robotics Italian Institute of Technology Genoa Italy Disney Research Pittsburgh Pittsburgh PA 15213 United States

ISBN: (纸本)9781612848679

The development of agile and safe humanoid robots require controllers that guarantee both high tracking performance and compliance with the environment. More specifically, the control of contact interaction is of crucial importance for robots that will actively interact with their environment. Model-based controllers such as inverse dynamics or operational space control are very appealing as they offer both high tracking performance and compliance. However, while widely used for fully actuated systems such as manipulators, they are not yet standard controllers for legged robots such as humanoids. Indeed such robots are fundamentally different from manipulators as they are underactuated due to their floating-base and subject to switching contact constraints. In this paper we present an inverse dynamics controller for legged robots that use torque redundancy to create an optimal distribution of contact constraints. The resulting controller is able to minimize, given a desired motion, any quadratic cost of the contact constraints at each instant of time. In particular we show how this can be used to minimize tangential forces during locomotion, therefore significantly improving the locomotion of legged robots on difficult terrains. In addition to the theoretical result, we present simulations of a humanoid and a quadruped robot, as well as experiments on a real quadruped robot that demonstrate the advantages of the controller. © 2011 IEEE.

关键词： Controllers

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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4th International Conference on Interaction Sciences: IT, Human and Digital Content, ICIS 2011

作者： Ge, Shuzhi Sam Liew, Chun Fui Li, Yanan Department of Electrical and Computer Engineering Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China Social Robotics Lab NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9788988678442

This paper presents a social interactive robot Nancy that has been developed in Social robotics laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills. © 2011 AICIT.

关键词： Graphical user interfaces

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Self-learning visual inspection system for cable crimping machines

Self-learning visual inspection system for cable crimping ma...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Stefano Ghidoni Matteo Finotto Emanuele Menegatti Intelligent Autonomous Systems Laboratory (IAS-Lab) The University of Padova Padova Italy IT+Robotics s.r.l. A University of Padova Spin-off Company Padova Italy

This paper presents a system for checking connectors while cables are being crimped to them. The system verifies that the wires color sequence is correct: an accurate color analysis technique has then been developed, ...

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Model-based estimation of active knee stiffness

Model-based estimation of active knee stiffness

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Serge Pfeifer Michael Hardegger Heike Vallery Renate List Mauro Foresti Robert Riener Eric J. Perreault Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland & Spinal Cord Injury Center Medical Faculty Balgrist University Hospital Zurich Switzerland Institute for Biomechanics ETH Zurich Zurich Switzerland Institute for Surgical Technology & Biomechanics University of Bern Bern Switzerland Department of Biomed. Eng. and Department of Phys. Med. and Rehab. Northwestern University Chicago IL USA Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA

Knee joint impedance varies substantially during physiological gait. Quantifying this modulation is critical for the design of transfemoral prostheses that aim to mimic physiological limb behavior. Conventional methods for quantifying joint impedance typically involve perturbing the joint in a controlled manner, and describing impedance as the dynamic relationship between applied perturbations and corresponding joint torques. These experimental techniques, however, are difficult to apply during locomotion without impeding natural movements. In this paper, we propose a method to estimate the elastic component of knee joint impedance that depends on muscle activation, often referred to as active knee stiffness. The method estimates stiffness using a musculoskeletal model of the leg and a model for activation-dependent short-range muscle stiffness. Muscle forces are estimated from measurements including limb kinematics, kinetics and muscle electromyograms. For isometric validation, we compare model estimates to measurements involving joint perturbations; measured stiffness is 17% lower than model estimates for extension, and 42% lower for flexion torques. We show that sensitivity of stiffness estimates to common approaches for estimating muscle force is small in isometric conditions. We also make initial estimates of how knee stiffness is modulated during gait, illustrating how this approach may be used to obtain parameters relevant to the design of transfemoral prostheses.

关键词： Muscles Knee Joints Torque Force Load modeling Electromyography

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Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation

Seabed Tracking of an Autonomous Underwater Vehicle with Non...

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IEEE Conference on Decision and Control

作者： A. Adhami-Mirhosseini A. Pedro Aguiar M. J. Yazdanpanah Control and Intelligent Processing Center of Excellence University of Tehran P.O. Box 14395/515 Tehran Iran Lab. of Robotics and Systems in Engineering and Science (LARSyS) Inst. Superior Tecnico (IST) Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9781612848006

This paper proposes a new control algorithm for automatic seabed tracking performed by a low cost autonomous underwater vehicle subject to the fact that the seabed profile is not known in advance. The control design amounts to cast the problem in the framework of nonlinear output regulation theory combined with pseudo-spectral methods to approximate the solutions of the regulator equations. To this end, the seabed tracking problem is re-formulated as a trajectory tracking problem and the reference signal is constructed using Fourier series to approximate the seabed profiles. An interesting feature of this approach is that the combination of the Fourier series with output regulation problem allows to bypass the need to compute explicitly the Fourier coefficients. Stability analysis and simulation results with real seabed data show the effectiveness of the proposed controller.

关键词： Equations Regulators Mathematical model Vehicles Chebyshev approximation Vehicle dynamics

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Reports of the AAAI 2010 fall symposia

Reports of the AAAI 2010 fall symposia

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作者： Azevedo, Roger Biswas, Gautam Bohus, Dan Carmichael, Ted Finlayson, Mark A. Hadzikadic, Mirsad Havasi, Catherine Horvitz, Eric Kanda, Takayuki Koyejo, Oluwasanmi Lawless, William F. Lenat, Doug Meneguzzi, Felipe Mutlu, Bilge Oh, Jean Pirrone, Roberto Raux, Antoine Sofge, Donald A. Sukthankar, Gita Van Durme, Benjamin Yorke-Smith, Neil Department of Educational and Counseling Psychology McGill University Canada Center for Intelligent Systems Vanderbilt University United States Microsoft Research Redmond United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology United States Media Lab. Massachusetts Institute of Technology United States ATR Intelligent Robotics and Communication Laboratories Kyoto Japan Department of Electrical and Computer Engineering University of Texas Austin United States Department of Mathematics Paine College Augusta GA United States Cycorp Austin TX United States Robotics Institute Carnegie Mellon University United States Department of Computer Sciences University of Wisconsin Madison United States University of Palermo Italy Honda Research Institute United States Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Washington DC United States Department of Electrical Engineering and Computer Science University of Central Florida United States Department of Computer Science Johns Hopkins University United States American University of Beirut Lebanon SRI International's Artificial Intelligence Center United States

The Association for the Advancement of Artificial Intelligence (AAAI) presented the 2010 Fall Symposium Series on November 11-13, 2010. The eight symposia included Cognitive and Metacognitive Educational systems, Commonsense Knowledge, Complex Adaptive systems: Resilience, Robustness, and Evolvability, Computational Models of Narrative, Dialog with Robots, Manifold Learning and Its Applications, Proactive Assistant Agents and Quantum Informatics for Cognitive, Social, and Semantic Processes. Cognitive and Metacognitive Educational systems aimed to provide a comprehensive definition of metacognitive educational systems that is inclusive of the theoretical, architectural, and educational aspects of this field. The AAAI Commonsense Knowledge Fall Symposium had the goal of bringing together the diverse elements of this community whose work benefits from or contributes to the representation of general knowledge about the world. One of the specific goals of Proactive symposium was to gather the researchers from various projects in assistant agents to share their wisdom in retrospect.

关键词： Semantics

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Virtual reality, robot, and object touch: Blended reality sensorimotor training experience

Virtual reality, robot, and object touch: Blended reality se...

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Annual Northeast Bioengineering Conference

作者： K.G. August M. Guidali M. Sellathurai M-C. Hepp-Reymond S.V. Adamovich R. Riener Institute of Electronics Communications & Information Technology (ECIT) Queen''s University Belfast Belfast UK Spinal Cord Injury Center University of Zurich Switzerland New Jersey Institute of Technology University of Medicine and Dentistry of New Jersey Newark USA University of Zurich and ETH Institute of Neuroinformatics Zurich Switzerland Sensory-Motor Systems (SMS) Lab Institute of Robotics and Intelligent Systems (IRIS) ETH Zurich Switzerland

Loss of body sensations often accompanies injuries to the central or peripheral nervous system and can lead to disintegration of body schema resulting in altered sensory dependent motor skills. Localizing external objects within peripersonal space plays an important role in the strategies of accurate human movement, towards targets and for obstacle avoidance. In our system, practicing viewing and finger-tip contact with real objects is enabled using Blended Reality: Virtual Reality, Robot Assistance, and Real Object Touch. Arm Location exercises accompany multi-sensory experience in the blended reality. Adding vision and touch, salient properties of three dimensional real objects, to the technology assisted training environment increases the number and realistic qualities of sensory modalities for integration to bolster performance of the trainee. A number of exercises have been developed and are being investigated to understand contributions of the multi-sensory experiences upon performance, and to identify appropriate protocols for therapy.

关键词： Robot sensing systems Humans Visualization Training Injuries Mirrors

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain

作者： Bos, Danny Plass-Oude Duvinage, Matthieu Oktay, Oytun Saa, Jaime Delgado Guruler, Huseyin Istanbullu, Ayhan Van Vliet, Marijn Van De Laar, Bram Poel, Mannes Roijendijk, Linsey Tonin, Luca Bahramisharif, Ali Reuderink, Boris HMI Group Faculty of EEMCS University of Twente Netherlands TCTS Lab Electrical Engineering University Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal University Turkey Faculty of Engineering and Natural Sciences VPA Lab Sabanci University Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Radboud University Nijmegen Donders Institute for Brain Cognition and Behaviour Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Radboud University Nijmegen Institute for Computing and Information Sciences Nijmegen Netherlands

ISBN: (纸本)9781424498918

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment. © 2011 IEEE.

关键词： Virtual reality

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