Approaches to Probabilistic Model Learning for Mobile by Jürgen Sturm

By Jürgen Sturm

Mobile manipulation robots are expected to supply many beneficial companies either in household environments in addition to within the business context.

Examples contain household provider robots that enforce huge components of the house responsibilities, and flexible business assistants that supply automation, transportation, inspection, and tracking providers. The problem in those purposes is that the robots need to functionality less than altering, real-world stipulations, be ready to care for massive quantities of noise and uncertainty, and function with out the supervision of an expert.

This e-book offers novel studying thoughts that let cellular manipulation robots, i.e., cellular systems with a number of robot manipulators, to autonomously adapt to new or altering occasions. The techniques offered during this booklet conceal the subsequent subject matters: (1) studying the robot's kinematic constitution and houses utilizing actuation and visible suggestions, (2) studying approximately articulated gadgets within the atmosphere during which the robotic is working, (3) utilizing tactile suggestions to reinforce the visible conception, and (4) studying novel manipulation projects from human demonstrations.

This publication is a perfect source for postgraduates and researchers operating in robotics, laptop imaginative and prescient, and synthetic intelligence who are looking to get an outline on one of many following subjects:

· kinematic modeling and learning,

· self-calibration and life-long adaptation,

· tactile sensing and tactile item reputation, and

· imitation studying and programming by way of demonstration.

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Approaches to Probabilistic Model Learning for Mobile Manipulation Robots

Cellular manipulation robots are expected to supply many helpful providers either in household environments in addition to within the business context. Examples contain family carrier robots that enforce huge components of the housekeeping, and flexible business assistants that supply automation, transportation, inspection, and tracking providers.

Extra resources for Approaches to Probabilistic Model Learning for Mobile Manipulation Robots

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2. Here, a manipulation robot learns to discriminate empty from full bottles using tactile sensing. In this case, the inputs correspond to tactile features that are extracted from the high-frequency components of the sensor signal. 22 Chapter 2. 12 Fig. 2 Example of a binary classification problem where the robot learns a decision tree to discriminate full from empty bottles using tactile sensing. The onedimensional tactile features are spread out on the y-axis to improve the readability of the plot.

Instead of operating directly on the pixels of an image, the bag-of-features approach extracts an intermediate set of features from the images and learns the classification model only on these features. By counting how often a particular feature x is present in an image I, one obtains histogram distributions p(x | I) of features in the image. In the training phase, a codebook C of these histogram distributions p(x | y) is learned that expresses the probabilistic relationship between features and object classes.

WD ) are the corresponding eigenvectors, and D is the number of input dimensions. The number of dimensions of the resulting latent variable can be reduced while maximizing the variance by keeping only the d dimensions with the largest variance. 42) where Wd = (wi1 , . . , wid ) are the d < D eigenvectors associated with the d largest eigenvalues. Different methods exist for choosing the number of dimensions d of the latent space. Depending on the application, d has a fixed value (for example, d = 2 for visualizing high dimensional data), or it is chosen in such a way that a particular percentage, for example, 95 %, of the original variance is preserved.

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