The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a data-driven approach to model planar pushing interaction to predict both the most likely outcome of a push and its expected variability. The learned models rely on a variation of Gaussian processes with input-dependent noise called Variational Heteroscedastic Gaussian processes (VHGP) [1] that capture the mean and variance of a stochastic function. We show that we can learn accurate...
Scene understanding is a crucial requirement for robot navigation. Conditional Random Fields (CRF) are commonly used to solve the scene labelling problem since they represent contextual information efficiently and provide efficient inference methods. However, when a robot navigates through an unknown environment, it is often necessary to adjust the parameters of the CRF online to maintain the same...
There has been a great deal of work on learning new robot skills, but very little consideration of how these newly acquired skills can be integrated into an overall intelligent system. A key aspect of such a system is compositionality: newly learned abilities have to be characterized in a form that will allow them to be flexibly combined with existing abilities, affording a (good!) combinatorial explosion...
Deep learning has rapidly transformed the state of the art algorithms used to address a variety of problems in computer vision and robotics. These breakthroughs have relied upon massive amounts of human annotated training data. This time consuming process has begun impeding the progress of these deep learning efforts. This paper describes a method to incorporate photo-realistic computer images from...
Due to its ability to learn complex behaviors in high-dimensional state-action spaces, deep reinforcement learning algorithms have attracted much interest in the robotics community. For a practical reinforcement learning implementation on a robot, it has to be provided with an informative reward signal that makes it easy to discriminate the values of nearby states. To address this issue, prior information,...
Urban environments are characterised by the presence of distinctive audio signals which alert the drivers to events that require prompt action. The detection and interpretation of these signals would be highly beneficial for smart vehicle systems, as it would provide them with complementary information to navigate safely in the environment. In this paper, we present a framework that spots the presence...
In this paper, we investigate online nonlinear regression and introduce novel algorithms based on the long short term memory (LSTM) networks. We first put the underlying architecture in a nonlinear state space form and introduce highly efficient particle filtering (PF) based updates, as well as, extended Kalman filter (EKF) based updates. Our PF based training method guarantees convergence to the...
Emotion recognition is critical for everyday living and is essential for meaningful interaction. If we are to progress towards human and machine interaction that is engaging the human user, the machine should be able to recognize the emotional state of the user. Deep Convolutional Neural Networks (CNN) have proven to be efficient in emotion recognition problems. The good degree of performance achieved...
In this paper, we consider an optimization problem motivated by the International Aerial Robotics Competition (IARC) Mission-7, or the shepherd action. IARC Mission-7 requires an autonomous drone (i.e. the shepherd dog) to drive ground vehicle (sheep) across the green-line boundary of an competition arena of 20m × 20m within 10 mins. There are two actions, either top touch or collision to change the...
We propose a mathematical framework for synthesizing motion plans for multi-agent systems that fulfill complex, high-level and formal local specifications in the presence of inter-agent communication. The proposed synthesis framework consists of desired motion specifications in temporal logic (STL) formulas and a local motion controller that ensures the underlying agent not only to accomplish the...
The abstraction tasks are challenging for multi-modal sequences as they require a deeper semantic understanding and a novel text generation for the data. Although the recurrent neural networks (RNN) can be used to model the context of the time-sequences, in most cases the long-term dependencies of multi-modal data make the back-propagation through time training of RNN tend to vanish in the time domain...
This paper addresses the assist-as-needed (AAN) control problem for robotic orthoses. The objective is to design a stable AAN controller with an adjustable assistance level. The controller aims to follow a desired trajectory while allowing an adjustable tracking error with low control effort to provide a freedom zone for the user. By ensuring the stability of the system and providing the freedom zone,...
Neuromorphic computing is a promising solution for reducing the size, weight and power of mobile embedded systems. In this paper, we introduce a realization of such a system by creating the first closed-loop battery-powered communication system between an IBM Neurosynaptic System (IBM TrueNorth chip) and an autonomous Android-Based Robotics platform. Using this system, we constructed a dataset of...
A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural Network (CNN) in order to obtain fast and accurate performance. Our solution is firstly evaluated using a set of real images taken from onboard and offboard cameras...
In this paper, we study extensions to the Gaussian processes (GPs) continuous occupancy mapping problem. There are two classes of occupancy mapping problems that we particularly investigate. The first problem is related to mapping under pose uncertainty and how to propagate pose estimation uncertainty into the map inference. We develop expected kernel and expected submap notions to deal with uncertain...
Recently, there has been an explosion of cloud-based services that enable developers to include a spectrum of recognition services, such as emotion recognition, in their applications. The recognition of emotions is a challenging problem, and research has been done on building classifiers to recognize emotion in the open world. Often, learned emotion models are trained on data sets that may not sufficiently...
In this project, a conceptual design of a robotic exoskeleton for the neurological rehabilitation of temporomandibular disorder (TMD) is presented. Here, a PC based GUI interface and EMG and EEG based feedback system is used. The proposed system presents a lightweight, portable solution aimed at promoting user engagement in the rehabilitation process. The robotic exoskeleton provides a method of delivering...
This paper describes an unsupervised method of adapting deep neural networks (DNNs) for sound source localization (SSL). DNNs-based SSL achieves high localization accuracy for sound data that are similar to training data. However, the accuracy deteriorates if a sound source is at an unknown position in unknown reverberant environments. We solve the problem by using unsupervised adaption of the DNNs'...
Unmanned systems are increasing in number, while their manning requirements remain the same. To decrease manpower demands, machine learning techniques and autonomy are gaining traction and visibility. One barrier is human perception and understanding of autonomy. Machine learning techniques can result in “black box” algorithms that may yield high fitness, but poor comprehension by operators. However,...
This paper reports on a pilot project of limited scopeto create a pipeline for the computer programming industry. It comes at a time when the demand for software programmers exceeds the dwindling supply of competent learners with suitable skills. This growing skills gap requires a bold intervention to turn this situation around. Preliminary results from a user questionnaire indicate a positive reaction...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.