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Recent advances in machine learning, such as deep neural networks, have caused a huge boost in many different areas of artificial intelligence and robotics. These methods typically require a large corpus of well-prepared and labelled training data, which limits the applicability to robotics. In our opinion, a fundamental challenge in autonomous robotics is to design systems that are simple enough...
Software testing is an important tool to ensure software quality. This is a hard task in robotics due to dynamic environments and the expensive development and time-consuming execution of test cases. Most testing approaches use model-based and/or simulation-based testing to overcome these problems. We propose model-free skill-centric testing in which a robot autonomously executes skills in the real...
In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and / or strong assumptions on both the environment and the task. In this paradigm, controllers solving these tasks tend to be complex. We propose a paradigm of maintaining...
Instruments to predict the total costs associated with the development, deployment and ownership of ontology-based technologies are a must for their adoption by the industry. In previous work of ours we have introduced a series of models that analyzed and estimated the costs and benefits associated with the development of ontologies and related knowledge structures, and of the applications using them...
One of the major aims of knowledge management has always been to facilitate the sharing and reuse of knowledge. Over the years a long list of technologies and tools pursuing this aim have been proposed, using different types of conceptual structures to capture the knowledge that individuals and groups communicate and exchange. This chapter is concerned with these knowledge structures and their development,...
In the context of manipulation of dynamical systems, it is not trivial to design controllers that can cope with unpredictable changes in the system being manipulated. For example, in a pouring task, the target cup might start moving or the agent may decide to change the amount of the liquid during action execution. In order to cope with these situations, the robot should smoothly (and timely) change...
We present ONTOCOM, a method to estimate the costs of ontology engineering, as well as project management tools that support the application of the method. ONTOCOM is part of a broader framework we have developed over the five years, whose aim is to assess the business value of semantic technologies through a suite of methods, estimation models and project management tools, by which the costs and...
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