Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks

In order to robustly execute a task under environmental uncertainty, a robot needs to be able to reactively adapt to changes arising in its environment. The environment changes are usually reflected in deviation from expected sensory traces. These deviations in sensory traces can be used to drive the motion adaptation, and for this purpose, a feedback model is required. The feedback model maps the deviations in sensory traces to the motion plan adaptation. In this paper, we develop a general data-driven framework for learning a feedback model from demonstrations. We utilize a variant of a radial basis function network structure --with movement phases as kernel centers-- which can generally be applied to represent any feedback models for movement primitives. To demonstrate the effectiveness of our framework, we test it on the task of scraping on a tilt board. In this task, we are learning a reactive policy in the form of orientation adaptation, based on deviations of tactile sensor traces. As a proof of concept of our method, we provide evaluations on an anthropomorphic robot. A video demonstrating our approach and its results can be seen in https://youtu.be/7Dx5imy1KcwComment: 8 pages, accepted to be published at the International Conference on Robotics and Automation (ICRA) 201

RTNN: The new parallel machine in Zaragoza

I report on the development of RTNN, a parallel computer designed as a 4^4 hypercube of 256 T9000 transputer nodes, each with 8 MB memory. The peak performance of the machine is expected to be 2.5 Gflops.Comment: 10 pages PostScript, including 5 figures. Write-up (June 1995) of talk at the International Workshop ``QCD on Massively Parallel Computers'', Yamagata, Japan, 16-18 March 1995. To appear in the Proceedings, Suppl. Progr. Theor. Phys. (Kyoto

Pipelined digital SAR azimuth correlator using hybrid FFT-transversal filter

A synthetic aperture radar system (SAR) having a range correlator is provided with a hybrid azimuth correlator which utilizes a block-pipe-lined fast Fourier transform (FFT). The correlator has a predetermined FFT transform size with delay elements for delaying SAR range correlated data so as to embed in the Fourier transform operation a corner-turning function as the range correlated SAR data is converted from the time domain to a frequency domain. The azimuth correlator is comprised of a transversal filter to receive the SAR data in the frequency domain, a generator for range migration compensation and azimuth reference functions, and an azimuth reference multiplier for correlation of the SAR data. Following the transversal filter is a block-pipelined inverse FFT used to restore azimuth correlated data in the frequency domain to the time domain for imaging

On the convergence of spectral deferred correction methods

In this work we analyze the convergence properties of the Spectral Deferred Correction (SDC) method originally proposed by Dutt et al. [BIT, 40 (2000), pp. 241--266]. The framework for this high-order ordinary differential equation (ODE) solver is typically described wherein a low-order approximation (such as forward or backward Euler) is lifted to higher order accuracy by applying the same low-order method to an error equation and then adding in the resulting defect to correct the solution. Our focus is not on solving the error equation to increase the order of accuracy, but on rewriting the solver as an iterative Picard integral equation solver. In doing so, our chief finding is that it is not the low-order solver that picks up the order of accuracy with each correction, but it is the underlying quadrature rule of the right hand side function that is solely responsible for picking up additional orders of accuracy. Our proofs point to a total of three sources of errors that SDC methods carry: the error at the current time point, the error from the previous iterate, and the numerical integration error that comes from the total number of quadrature nodes used for integration. The second of these two sources of errors is what separates SDC methods from Picard integral equation methods; our findings indicate that as long as difference between the current and previous iterate always gets multiplied by at least a constant multiple of the time step size, then high-order accuracy can be found even if the underlying "solver" is inconsistent the underlying ODE. From this vantage, we solidify the prospects of extending spectral deferred correction methods to a larger class of solvers to which we present some examples.Comment: 29 page