4,809 research outputs found
Learning Latent Space Dynamics for Tactile Servoing
To achieve a dexterous robotic manipulation, we need to endow our robot with
tactile feedback capability, i.e. the ability to drive action based on tactile
sensing. In this paper, we specifically address the challenge of tactile
servoing, i.e. given the current tactile sensing and a target/goal tactile
sensing --memorized from a successful task execution in the past-- what is the
action that will bring the current tactile sensing to move closer towards the
target tactile sensing at the next time step. We develop a data-driven approach
to acquire a dynamics model for tactile servoing by learning from
demonstration. Moreover, our method represents the tactile sensing information
as to lie on a surface --or a 2D manifold-- and perform a manifold learning,
making it applicable to any tactile skin geometry. We evaluate our method on a
contact point tracking task using a robot equipped with a tactile finger. A
video demonstrating our approach can be seen in https://youtu.be/0QK0-Vx7WkIComment: Accepted to be published at the International Conference on Robotics
and Automation (ICRA) 2019. The final version for publication at ICRA 2019 is
7 pages (i.e. 6 pages of technical content (including text, figures, tables,
acknowledgement, etc.) and 1 page of the Bibliography/References), while this
arXiv version is 8 pages (added Appendix and some extra details
Intelligent machines work in unstructured environments by differential neuromorphic computing
Efficient operation of intelligent machines in the real world requires
methods that allow them to understand and predict the uncertainties presented
by the unstructured environments with good accuracy, scalability and
generalization, similar to humans. Current methods rely on pretrained networks
instead of continuously learning from the dynamic signal properties of working
environments and suffer inherent limitations, such as data-hungry procedures,
and limited generalization capabilities. Herein, we present a memristor-based
differential neuromorphic computing, perceptual signal processing and learning
method for intelligent machines. The main features of environmental information
such as amplification (>720%) and adaptation (<50%) of mechanical stimuli
encoded in memristors, are extracted to obtain human-like processing in
unstructured environments. The developed method takes advantage of the
intrinsic multi-state property of memristors and exhibits good scalability and
generalization, as confirmed by validation in two different application
scenarios: object grasping and autonomous driving. In the former, a robot hand
experimentally realizes safe and stable grasping through fast learning (in ~1
ms) the unknown object features (e.g., sharp corner and smooth surface) with a
single memristor. In the latter, the decision-making information of 10
unstructured environments in autonomous driving (e.g., overtaking cars,
pedestrians) is accurately (94%) extracted with a 40*25 memristor array. By
mimicking the intrinsic nature of human low-level perception mechanisms, the
electronic memristive neuromorphic circuit-based method, presented here shows
the potential for adapting to diverse sensing technologies and helping
intelligent machines generate smart high-level decisions in the real world.Comment: 16 pages, 5 figure
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