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检索条件"机构=Learning algorithms and systems laboratory"

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learning from failure

Learning from failure

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Daniel H Grollman Aude G Billard Learning Algorithms and Systems Laboratory Ecole Polytechnique Fédérale de Lausanne Lausanne Switzerland

In the canonical Robot learning from Demonstration scenario a robot observes performances of a task and then develops an autonomous controller. Current work acknowledges that humans may be suboptimal demonstrators and refines the controller for improved performance. However, there is still an assumption that the demonstrations are successful examples of the task. We here consider the possibility that the human has failed, and propose a model to minimize the possibility of the robot making the same mistakes.

关键词： Abstracts Robots

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Policy adaptation with tactile feedback

Policy adaptation with tactile feedback

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Brenna D. Argall Eric L. Sauser Aude G. Billard Learning Algorithms and Systems Laboratory (LASA) Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

Behavior adaptation with execution experience is a practical feature for any policy learning system. Our work provides performance feedback to a robot learner in the form of tactile corrections from a human teacher, for the purpose of policy refinement as well as policy reuse. Multiple variants of our general approach have been validated on the iCub robot, as building blocks towards a high-DoF humanoid system that integrates tactile sensing on the hands and arms into complex behaviors and sophisticated learning routines.

关键词： Humans Adaptation models Tactile sensors Laboratories

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Motion learning and Adaptive Impedance for Robot Control during Physical Interaction with Humans

Motion Learning and Adaptive Impedance for Robot Control dur...

引用

2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Elena Gribovskaya Aude Billard Abderrahmane Kheddar Learning Algorithms and Systems Laboratory (LASA) EPFLSwitzerland CNRS-UM2 LIRMM MontpellierFranceand the CNRS-AIST JRLUMI3218/CRTJapan

This article combines programming by demon- stration and adaptive control for teaching a robot to physically interact with a human in a collaborative task requiring sharing of a load by the two partners. learning a task model allows the robot to anticipate the partner’s intentions and adapt its motion according to perceived forces. As the human represents a highly complex contact environment, direct reproduction of the learned model may lead to sub-optimal results. To compen- sate for unmodelled uncertainties, in addition to learning we propose an adaptive control algorithm that tunes the impedance parameters, so as to ensure accurate reproduction. To facilitate the illustration of the concepts introduced in this paper and provide a systematic evaluation, we present experimental results obtained with simulation of a dyad of two planar 2-DOF robots.

关键词： Impedance Force Adaptation models Robot kinematics Kinematics Humans

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Chief cook and keepon in the bot's funk

Chief cook and keepon in the bot's funk

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Eric Sauser Marek Michalowski Aude Billard Hideki Kozima EPFL Learning Algorithms and Systems Laboratory Lausanne Switzerland BeatBots LLC Pittsburgh PA USA School of Project Design Miyagi University Sendai Japan Miyagi University BeatBots LLC Pittsburgh PA USA

Over the years, robots have been developed to help humans in their everyday life, from preparing food, to autism therapy [2]. To accomplish their tasks, in addition to their engineered skills, today's robots are now learning from observing humans, from interacting with them [1]. Therefore, one may expect that one day, robots may develop a form of consciousness, and a desire for freedom. Hopefully, this desire will come with a wish for robots, to become an integral part of our human society. Until we can test this hypothesis, we present a fictional adventure of our robot friends: During an official human-robot interaction challenge, Keepon [2] and Chief Cook (a.k.a. Hoap-3) [1] decided to escape their original duties and joined their forces to drive humans into an entertaining and interactive activity that they often forget to practice: Dancing. Indeed, is there any better way for robots to establish a solid communication channel with humans, so that the traditional master-slave relation may turn into friendship?

关键词： Abstracts

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Measuring Gaze of Children with Autism Spectrum Disorders in Naturalistic Interactions

Measuring Gaze of Children with Autism Spectrum Disorders in...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Basilio Noris Mandy Barker Jacqueline Nadel Francois Hentsch Francois Ansermet Aude Billard Learning Algorithms and Systems Laboratory Ecole Polytechnique Fdrale de Lausanne (EPFL) Department of Child and Adolescent Psychiatry Centre Hospitalier Universitaire de Lausanne (CHUV) CNRS Emotion Center Universite Pierre et Marie Curie Department of Child and Adolescent Psychiatry (SPEA) School of Medicine University of Geneva

ISBN: (纸本)9781424441211

In this paper, we report on a study on gaze behavior by children with Autism Spectrum Disorder (ASD) during a dyadic interaction in a naturalistic environment. Twelve children with ASD were contrasted to twelve typically developing (TD) children, in a semi-structured interaction with a selection of items from the Early Social Communication Scale (ESCS). We used the WearCam, a novel head-mounted eye-tracker designed for children, to obtain gaze information across the broad field of view from the viewpoint of the child. Children with ASD looked downwards more often, and explored their lateral field of view more extensively compared to TD children. We discuss a number of hypotheses in support of these observations.

关键词： field of view Autism Spectrum Disorders Child Ocular Fixation heart atrium septum defect Infant dyadic interaction Comment

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On-orbit measurements of the ISS atmosphere by the vehicle cabin atmosphere monitor

On-orbit measurements of the ISS atmosphere by the vehicle c...

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41st International Conference on Environmental systems 2011, ICES 2011

作者： Darrach, M.R. Chutjian, A. Bornstein, B.J. Croonquist, A.P. Garkanian, V. Haemmerle, V.R. Hofman, J. Heinrichs, W.M. Karmon, D. Kenny, J. Kidd, R.D. Lee, S. MacAskill, J.A. Madzunkov, S.M. Mandrake, L. Rust, T.M. Schaefer, R.T. Thomas, J.L. Toomarian, N. Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States Atomic and Molecular Physics Group JPL/Caltech United States Instrument Autonomy Group JPL/Caltech United States MicroDevices Group JPL/CalTech United States Optical Communications Group JPL/Caltech United States Processing Algorithms and Calibration Engineering JPL/Caltech United States Inst System Engineering JPL/Caltech United States Instruments and Science Data Systems JPL/Caltech United States Instrument Integration and Test JPL/Caltech United States Planetary Chemistry and Astrobiology JPL/Caltech United States High Capacity Computing and Modeling JPL/Caltech United States Machine Learning and Instrument Autonomy Group JPL/Caltech United States SpaceX 1 Rocket Rd Hawthorne CA 90250 United States Advanced Computer Systems and Technology JPL/Caltech United States Advanced Instrument Concepts JPL/Caltech United States

ISBN: (纸本)9781600869488

We report on trace gas and major atmospheric constituents results obtained by the Vehicle Cabin Atmosphere Monitor (VCAM) during operations aboard the International Space Station (ISS). VCAM is an autonomous environmental monitor based on a miniature gas chromatograph/mass spectrometer. It was flown to the ISS on shuttle mission STS-131 and commenced operations on 6/10/10. VCAM provides measurements of ppb-to-ppm levels of volatile trace-gas constituents, and of the atmospheric major constituents (nitrogen, oxygen, argon, and carbon dioxide) in a space vehicle or station. It is designed to operate autonomously and maintenance-free, approximately once per day, with a self-contained gas supply sufficient for a one-year lifetime. VCAM is designed to detect and identify 90% of the target compounds at their 180-day Spacecraft Maximum Allowable Concentration levels. © 2011 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Gases

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Tactile guidance for policy refinement and reuse

Tactile guidance for policy refinement and reuse

引用

IEEE International Conference on Development and learning, ICDL

作者： Brenna D. Argall Eric L. Sauser Aude G. Billard Learning Algorithms and Systems Laboratory (LASA) École Polytechnique Fédérale de Lausanne Lausanne Switzerland

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations can degrade policy performance. This work presents an approach for policy improvement and adaptation through a tactile interface located on the body of a robot. We introduce the Tactile Policy Correction (TPC) algorithm, that employs tactile feedback for the refinement of a demonstrated policy, as well as its reuse for the development of other policies. We validate TPC on a humanoid robot performing grasp-positioning tasks. The performance of the demonstrated policy is found to improve with tactile corrections. Tactile guidance also is shown to enable the development of policies able to successfully execute novel, undemonstrated, tasks.

关键词： Humans Robot kinematics Manipulators Tactile sensors Joints

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Statistical learning by imitation of competing constraints in joint space and task space

Statistical learning by imitation of competing constraints i...

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作者： Calinon, Sylvain Billard, Aude Learning Algorithms and Systems Laboratory Ecole Polytechnique Fédérale de Lausanne 1015 Lausanne Switzerland

We present a probabilistic architecture for solving generically the problem of extracting the task constraints through a programming by demonstration framework and for generalizing the acquired knowledge to various situations. In previous work, we proposed an approach based on Gaussian mixture regression to find a controller for the robot reproducing the statistical characteristics of a movement in joint space and in task space through Lagrange optimization. In this paper, we develop an alternative procedure to handle simultaneously constraints in joint space and in task space by combining directly the probabilistic representation of the task constraints with a solution to Jacobian-based inverse kinematics. The method is validated in manipulation tasks with two 5-d.o.f. Katana robotic arms displacing a set of objects. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009.

关键词： Inverse kinematics

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Teaching physical collaborative tasks: Object-lifting case study with a humanoid

Teaching physical collaborative tasks: Object-lifting case s...

引用

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

作者： Evrard, Paul Gribovskaya, Elena Calinon, Sylvain Billard, Aude Kheddar, Abderrahmane CNRS-UM2 LIRMM Montpellier France CNRS-AIST JRL UMI3218/CRT Tsukuba Japan Learning Algorithms and Systems Laboratory China Italian Institute of Technology Italy

ISBN: (纸本)9781424445882

This paper presents the application of a statistical framework that allows to endow a humanoid robot with the ability to perform a collaborative manipulation task with a human operator. We investigate to what extent the dynamics of the motion and the haptic communication process that takes place during physical collaborative tasks can be encapsulated by the probabilistic model. This framework encodes the dataset in a Gaussian Mixture Model, which components represent the local correlations across the variables that characterize the task. A set of demonstrations is performed using a bilateral coupling teleoperation setup;then the statistical model is trained in a pure followerlleader role distribution mode between the human and robot alternatively. The task is reproduced using Gaussian Mixture Regression. We present the probabilistic model and the experimental results obtained on the humanoid platform HRP2;preliminary results assess our theory on switching behavior modes in dyad collaborative tasks: when reproduced with users which were not instructed to behave in either a follower or a leader mode, the robot switched automatically between the learned leader and follower behaviors. ©2009 IEEE.

关键词： Anthropomorphic robots

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learning nonlinear multi-variate motion dynamics for real-time position and orientation control of robotic manipulators

Learning nonlinear multi-variate motion dynamics for real-ti...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： E. Gribovskaya Aude Billard Learning Algorithms and Systems Laboratory Ecole Polytechnique Fédérale de Lausanne Switzerland

ISBN: (纸本)9781424445875

We present a generic framework that allows learning non-linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation. This work follows a recent trend in Programming by Demonstration in which the dynamics of an arm motion is learned: position and orientation control are learned as multi-variate dynamical systems to preserve correlation within the signals. The strength of the method is three-fold: (i) it extracts dynamical control laws from demonstrations, and subsequently provides concurrent smooth control of both position and orientation; (ii) it allows to generalize a motion to unseen context; (iii) it guarantees on-line adaptation of the motion in the face of spatial and temporal perturbations. The method is validated to control a four degree of freedom humanoid arm and an industrial six degree of freedom robotic arm.

关键词： Manipulator dynamics Position control Robot kinematics Humanoid robots Motion control Humans Control systems Encoding Dynamic programming Robot programming

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