22,633 research outputs found
QUAL : A Provenance-Aware Quality Model
The research described here is supported by the award made by the RCUK Digital Economy program to the dot.rural Digital Economy Hub; award reference: EP/G066051/1.Peer reviewedPostprin
Learning to Represent Haptic Feedback for Partially-Observable Tasks
The sense of touch, being the earliest sensory system to develop in a human
body [1], plays a critical part of our daily interaction with the environment.
In order to successfully complete a task, many manipulation interactions
require incorporating haptic feedback. However, manually designing a feedback
mechanism can be extremely challenging. In this work, we consider manipulation
tasks that need to incorporate tactile sensor feedback in order to modify a
provided nominal plan. To incorporate partial observation, we present a new
framework that models the task as a partially observable Markov decision
process (POMDP) and learns an appropriate representation of haptic feedback
which can serve as the state for a POMDP model. The model, that is parametrized
by deep recurrent neural networks, utilizes variational Bayes methods to
optimize the approximate posterior. Finally, we build on deep Q-learning to be
able to select the optimal action in each state without access to a simulator.
We test our model on a PR2 robot for multiple tasks of turning a knob until it
clicks.Comment: IEEE International Conference on Robotics and Automation (ICRA), 201
Blind Sensor Calibration using Approximate Message Passing
The ubiquity of approximately sparse data has led a variety of com- munities
to great interest in compressed sensing algorithms. Although these are very
successful and well understood for linear measurements with additive noise,
applying them on real data can be problematic if imperfect sensing devices
introduce deviations from this ideal signal ac- quisition process, caused by
sensor decalibration or failure. We propose a message passing algorithm called
calibration approximate message passing (Cal-AMP) that can treat a variety of
such sensor-induced imperfections. In addition to deriving the general form of
the algorithm, we numerically investigate two particular settings. In the
first, a fraction of the sensors is faulty, giving readings unrelated to the
signal. In the second, sensors are decalibrated and each one introduces a
different multiplicative gain to the measures. Cal-AMP shares the scalability
of approximate message passing, allowing to treat big sized instances of these
problems, and ex- perimentally exhibits a phase transition between domains of
success and failure.Comment: 27 pages, 9 figure
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