Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search

This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by enclosure grasps. It seeks to minimize the number of touches and maximize recognition confidence. The actions are formulated as wrist poses relative to each other, making the algorithm independent of absolute workspace coordinates. The optimal sequence is approximated by Monte Carlo tree search. We demonstrate results in a physics engine and on a real robot. In the physics engine, most object instances were recognized in at most 16 grasps. On a real robot, our method recognized objects in 2--9 grasps and outperformed a greedy baseline.Comment: Accepted to International Conference on Intelligent Robots and Systems (IROS) 201

Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search

This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by enclosure grasps. It seeks to minimize the number of touches and maximize recognition confidence. The actions are formulated as wrist poses relative to each other, making the algorithm independent of absolute workspace coordinates. The optimal sequence is approximated by Monte Carlo tree search. We demonstrate results in a physics engine and on a real robot. In the physics engine, most object instances were recognized in at most 16 grasps. On a real robot, our method recognized objects in 2--9 grasps and outperformed a greedy baseline.Comment: Accepted to International Conference on Intelligent Robots and Systems (IROS) 201

Memory Based Online Learning of Deep Representations from Video Streams

We present a novel online unsupervised method for face identity learning from video streams. The method exploits deep face descriptors together with a memory based learning mechanism that takes advantage of the temporal coherence of visual data. Specifically, we introduce a discriminative feature matching solution based on Reverse Nearest Neighbour and a feature forgetting strategy that detect redundant features and discard them appropriately while time progresses. It is shown that the proposed learning procedure is asymptotically stable and can be effectively used in relevant applications like multiple face identification and tracking from unconstrained video streams. Experimental results show that the proposed method achieves comparable results in the task of multiple face tracking and better performance in face identification with offline approaches exploiting future information. Code will be publicly available.Comment: arXiv admin note: text overlap with arXiv:1708.0361

Distributed Cognitive RAT Selection in 5G Heterogeneous Networks: A Machine Learning Approach

The leading role of the HetNet (Heterogeneous Networks) strategy as the key Radio Access Network (RAN) architecture for future 5G networks poses serious challenges to the current cell selection mechanisms used in cellular networks. The max-SINR algorithm, although effective historically for performing the most essential networking function of wireless networks, is inefficient at best and obsolete at worst in 5G HetNets. The foreseen embarrassment of riches and diversified propagation characteristics of network attachment points spanning multiple Radio Access Technologies (RAT) requires novel and creative context-aware system designs. The association and routing decisions, in the context of single-RAT or multi-RAT connections, need to be optimized to efficiently exploit the benefits of the architecture. However, the high computational complexity required for multi-parametric optimization of utility functions, the difficulty of modeling and solving Markov Decision Processes, the lack of guarantees of stability of Game Theory algorithms, and the rigidness of simpler methods like Cell Range Expansion and operator policies managed by the Access Network Discovery and Selection Function (ANDSF), makes neither of these state-of-the-art approaches a favorite. This Thesis proposes a framework that relies on Machine Learning techniques at the terminal device-level for Cognitive RAT Selection. The use of cognition allows the terminal device to learn both a multi-parametric state model and effective decision policies, based on the experience of the device itself. This implies that a terminal, after observing its environment during a learning period, may formulate a system characterization and optimize its own association decisions without any external intervention. In our proposal, this is achieved through clustering of appropriately defined feature vectors for building a system state model, supervised classification to obtain the current system state, and reinforcement learning for learning good policies. This Thesis describes the above framework in detail and recommends adaptations based on the experimentation with the X-means, k-Nearest Neighbors, and Q-learning algorithms, the building blocks of the solution. The network performance of the proposed framework is evaluated in a multi-agent environment implemented in MATLAB where it is compared with alternative RAT selection mechanisms