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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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The compressive strength improvement on softsoil subgrade with Quicklime stabilization, activated Gum Rosin and Iron Oxide 1

The compressive strength improvement on softsoil subgrade wi...

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1st International Symposium on Transportation Studies for Developing Countries, ISTSDC 2017

作者： Sofwan Samang, Lawalenna Harianto, Tri Bakri Muhidin, Achmad Hasanuddin University Doctoral Program of Civil Engineering Makassar Indonesia Hasanuddin University Department of Civil Engineering Makassar Indonesia

This study is intended to increase the compressive strength and durability of subgrade with lime, on high plasticity expansive soil. The composition of the stabilizing agent used;composition-1 is soil + 5% slakelime, composition-2 is soil + 5% quicklime, and composition-3 is soil + 5% (quicklime with rosin and iron oxide activation). The testing includes swelling test, durability test, and CBR test. That the performance of stabilization with the composition-3 was able to reduce the swelling potential on 3th day by 93.89%, decrease the volume increase potential by 93.09% and decrease the weight increase potential by 94.00% in the 3 periods of wet-dry cycle, and increase the CBR value by 758.62%. That the activation of gum rosin and iron oxide on quicklime can significantly improve the performance of lime for stabilization of expansive clay as subgrade of highway. © 2018 The Authors, published by EDP Sciences.

关键词： Iron oxides

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An Integration of QFD and Fuzzy-AHP approach in Hospital Services, case study: a Hospital in Iran 5

An Integration of QFD and Fuzzy-AHP approach in Hospital Ser...

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5th International Conference on Quality engineering and Management: A Better World with Quality! Quality in the Digital Transformation, ICQEM 2022

作者： Hariri, A. Domingues, J.P.T. Sampaio, P. Doctoral Program in Advanced Engineering Systems for Industry ALGORITMI Research Centre University of Minho Braga Portugal

ISBN: (纸本)9789895491117

Purpose This paper shows a development of an integrated model to identify the customer needs and select the best solution to optimize the quality of healthcare systems, namely at hospitals. Design/methodology/approach After determining the patient's requirements by data gathering from experts and patients, a questionnaire was prepared to implement the Fuzzy Analytic Hierarchy Process (FAHP) method. Afterward, the requirement's weight has determined by the patients. Finally, the most important technical requirements were achieved applying the 3-phases Quality Function Deployment (QFD) model. Findings The results show that by adapting the FAHP on ideas of the patients and hospital's experts to determine the weights of patients' requirements, led to have more flotation in FAHP questionnaires in the hospital services. In this domain, adopting the decision-making tools help more precise ranking of patients' requirements. Originality/value Since high-quality urgent services are vital to the protection of human life, it is significant to precisely rank the patient’s requirements by novel methodologies. By the implementation of an integrated model using FAHP and QFD, we were able to show the improvement of the quality of an hospital in Iran. After precisely ranking the patient requirements, "increasing human resource" and "establishing requirements and instructions in initial measures and reducing medication errors", are obtained as the most important technical requirements. © 2022 Universidade do Minho. All rights reserved.

关键词： FAHP Hospital Services House of Quality (HOQ) QFD Voice of Customer

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Data Pipeline Framework for AIS Data Processing 7

Data Pipeline Framework for AIS Data Processing

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7th International Conference on Informatics and Computing, ICIC 2022

作者： Krismentari, Ni Kadek Bumi Widyantara, I Made Oka Er, Ngurah Indra Asana, I Made Dwi Putra Hartawan, I Putu Noven Sudiantara, I Gede Postgraduate Program of Electrical Engineeringm Udayana University Denpasar Indonesia Udayana University Electrical Engineering Deparment Denpasar Indonesia Doctoral Program of Engineering Science Udayana University Denpasar Indonesia

ISBN: (纸本)9798350345711

Automatic Identification System (AIS) data contains static and dynamic information for identification, tracking, and collision avoidance of vessels, as well as management of maritime activities. In the utilization of AIS data, a data pipeline framework is needed which includes the process of capturing messages, translating messages, detecting data corruption, cleaning damaged data, reconstructing trajectories, visualizing data, and storing data for analysis needs. Usually, the analysis and storage of AIS data are done offline which makes it not conducive to understanding vessel dynamics. In addition, large AIS data contains incomplete and noisy information that affects the quality of the trajectory. In this context, this article has proposed an AIS data pipeline framework in the form of pre-processing and real-time trajectory reconstruction. Pre-processing is intended to eliminate data anomalies caused by transmission errors. While the trajectory reconstruction process to overcome missing values due to noise is based on the Cubic Spline interpolation technique. All processes in the data pipeline framework are streamed using Apache Kafka. The simulation results show that the proposed AIS data pipelines framework has succeeded in visualizing the data flow in the form of a map application and trajectory reconstruction in real-time. © 2022 IEEE.

关键词： Trajectories

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The combined effect of three raw materials composition on the production of analog rice: Characteristics properties

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Materials Today: Proceedings 2022年 63卷 S418-S423页

作者： Kusumayanti, Heny Sumardiono, Siswo Jos, Bakti Doctoral Program of Chemical Engineering Faculty of Engineering Universitas Diponegoro Tembalang Semarang Central Java 50275 Indonesia Department of Chemical Engineering Faculty of Engineering Universitas Diponegoro Tembalang Semarang Central Java 50275 Indonesia

Analog rice is made from materials, such as tubers and cereals, which can be cooked into the rice. Therefore, this study aims to examine the effect of comparing the composition of composite flour made from purple yam, cassava, and corn in the manufacture of analog rice. The proximate analysis showed purple yam and cassava flour had the lowest water and fat content of 9.08% and 0.43%, respectively. Meanwhile, corn and purple yam flour had the highest protein and carbohydrate content of 9.06% and 82.32%, and the lowest ash content was found in corn flour with 1.10%. The amylose and amylopectin content of purple yam, cassava and corn flour, was 31.28%, 35.67%, 33.10%, and 53.12%, 51.28%, 65.17%, respectively. The analysis of amylose and amylopectin was 4.38–4.59%, and 95.41–95.62%, showing a low and high content. Additionally, the hardness and bulk density was 1716–1135.3 g, and 0.623–0.633 g/mL, respectively. © 2022

关键词： Plants (botany)

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Evaluation of signature files as set access facilities in OODBs

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SIGMOD Record 1993年第2期22卷 247-256页

作者： Ishikawa, Yoshiharu Kitagawa, Hiroyuki Ohbo, Nobuo Doctoral Degree Program in Engineering University of Tsukuba Tsukuba City Ibaraki305 Japan Institute of Information Sciences and Electronics University of Tsukuba Tsukuba City Ibaraki305 Japan

Object-oriented database systems (OODBs) need efficient support for manipulation of complex objects. In particular, support of queries involving evaluations of set predicates is often required in handling complex objects. In this paper, we propose a scheme to apply signature file techniques, which were originally invented for text retrieval, to the support of set value accesses, and quantitatively evaluate their potential capabilities. Two signature file organizations, the sequential signature file and the bit-sliced signature file, are considered and their performance is compared with that of the nested index for queries involving the set inclusion operator (⊆). We develop a detailed cost model and present analytical results clarifying their retrieval, storage, and update costs. Our analysis shows that the bit-sliced signature file is a very promising set access facility in OODBs. © 1993 ACM.

关键词： Object-oriented databases

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Predicting Solvability and Difficulty of Sokoban Puzzles 43

Predicting Solvability and Difficulty of Sokoban Puzzles

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43rd International Conference of the Chilean Computer Science Society, SCCC 2024

作者： Schaa, Hans Del Solar-Zavala, Jose A. Barriga, Nicolas A. Universidad de Talca Doctoral Program in Engineering Systems Curicó Chile Universidad de Talca Faculty of Engineering Talca Chile

ISBN: (纸本)9798331527891

Knowing if a Sokoban level has a solution requires a high investment of computational resources. This also happens when estimating difficulty;heuristics may not be precise, only work for simplified cases, be discontinuous and take much computing time. The calculation of high-fidelity heuristics is expensive and the performance of optimization systems is reduced by the time they take to deliver the result. In this article, two Convolutional Neural Networks (CNN) are implemented, a classifier of resolvable Sokoban boards and a regressor that predicts the number of pushes necessary to solve them. These obtained an accuracy of 79 % and MAE of 28, respectively. Trained models are useful in systems that do not require optimality, but rather guidance within the search space that balances time and quality. These networks can be used as surrogate methods, replacing high-fidelity heuristics that take too long. © 2024 IEEE.

关键词： Convolutional neural networks

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Calorimetric evaluation of polymerization thermokinetics of styrene, α-methylstyrene and trans-β-methylstyrene

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Journal of Hazardous Materials 2009年第1期161卷 330-335页

作者： Lin, S.Y. Chen, K.Y. Shu, C.M. Doctoral Program Graduate School of Engineering Science and Technology National Yunlin University of Science and Technology 123 University Road Sec. 3 Douliou Yunlin 64002 Taiwan

According to literature and our research, the styrene polymerization mechanism is identified by α-methylstyrene (AMS). This study investigated the basic exothermic behavior of styrene and its major derivatives, AMS, and trans-β-methylstyrene (TBMS), by two calorimeters, differential scanning calorimetry (DSC) and thermal activity monitor (TAM), to compare and evaluate their thermal kinetics on polymerization. DSC and TAM were employed for dynamic scanning and isothermal ageing tests to calculate thermokinetic parameters of styrene and styrene containing 10 ppm 4-tertiary-butylcatechol (TBC), AMS, and TBMS. Certain prominent differences were observed and discussed between AMS and TBMS obtained from DSC and TAM. All of the results could be provided to the relevant plants for lessening the degree of hazard. Results indicated that styrene, AMS, and TBMS have potential exothermic hazards, especially during the higher temperature. © 2008 Elsevier B.V. All rights reserved.

关键词： Styrene

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Using Entropy for Modeling Difficulty in the Asteroid Escape Sliding Puzzle

Using Entropy for Modeling Difficulty in the Asteroid Escape...

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2023 IEEE CHILEAN Conference on Electrical, Electronics engineering, Information and Communication Technologies, ChileCon 2023

作者： Del Solar-Zavala, Jose A. Schaa, Hans Barriga, Nicolas A. Doctoral Program in Engineering Systems Universidad de Talca Curicó Chile Universidad de Talca Faculty of Engineering Talca Chile

ISBN: (纸本)9798350369533

Developing a standarized metric for difficulty that can be applied to a large number of puzzles is not trivial. This does not come as a surprise because of the subjective factors involved in defining difficulty. However, studies that address the design and application of metrics that can be applied to multiple games are still important, because they can still be used to increase the quality of content generated by automated agents. We take a look at applying information entropy concepts in the game Asteroid Escape and compare the results with other metrics to assess difficulty used in games of similar characteristics. This approach is largely based on future work proposal from a previous study done on The Witness puzzles that yielded positive results on using an automatic method to assess the difficulty of user rated puzzles. This study also includes a modification of BFS and A∗ capable of finding every shortest solution. From the implementation, it is possible to look at contradicting results with the literature, where basic metrics had a better result correlating with an official definition of difficulty from the game designers. The impact expected from this study is to propose an update to the the corpus of puzzle games where the uncertainty metric for difficulty has been applied. As having an accurate assessment of difficulty can open the doors to other studies, such as improving the quality of the output from procedural content generation methods in games or propose an automated method of difficulty adjustment based on this metric. © 2023 IEEE.

关键词： Asteroids

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Evaluating Standard Search Enhancements Performance in Zen Puzzle Garden

Evaluating Standard Search Enhancements Performance in Zen P...

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2023 IEEE CHILEAN Conference on Electrical, Electronics engineering, Information and Communication Technologies, ChileCon 2023

作者： Schaa, Hans Del Solar-Zavala, Jose A. Barriga, Nicolas A. Doctoral Program in Engineering Systems Universidad de Talca Curico Chile Universidad de Talca Faculty of Engineering Talca Chile

ISBN: (纸本)9798350369533

Sokoban-type puzzles and their variants involve complex planning and decision-making challenges in wide and deep search spaces. Such scenarios are interesting for testing path-planning algorithms. This document uses A ∗ and IDA ∗ (Iterative Deepening A *) algorithms to solve Zen Puzzle Garden game boards;a Sokoban-type puzzle where you need rake the sandy area completely. The algorithms are evaluated in terms of speed and node expansion in moderately complex boards. Additionally, we implement three improvements: transposition tables, move ordering, and deadlock tables. The results show that IDA ∗ with the three proposed improvements is on average faster than A *. Although its strength is its low memory usage, it can be seen that it is very competitive versus A ∗ in terms of time usage. Transposition tables and deadlocks tables reduce by 500 times the number of nodes expanded by the IDA ∗ without improvements. On the other hand, the ordering of nodes is not very effective for some boards, which causes a worse performance of the IDA ∗ algorithm, giving rise to greater exploration in boards that do not lead to the solution. Studying these algorithms can be beneficial in the field of path-finding for Sokoban-type game domains or solver-based procedural content generators. © 2023 IEEE.

关键词： Decision making

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