8,981 research outputs found
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
Exploration of Reaction Pathways and Chemical Transformation Networks
For the investigation of chemical reaction networks, the identification of
all relevant intermediates and elementary reactions is mandatory. Many
algorithmic approaches exist that perform explorations efficiently and
automatedly. These approaches differ in their application range, the level of
completeness of the exploration, as well as the amount of heuristics and human
intervention required. Here, we describe and compare the different approaches
based on these criteria. Future directions leveraging the strengths of chemical
heuristics, human interaction, and physical rigor are discussed.Comment: 48 pages, 4 figure
On Neuromechanical Approaches for the Study of Biological Grasp and Manipulation
Biological and robotic grasp and manipulation are undeniably similar at the
level of mechanical task performance. However, their underlying fundamental
biological vs. engineering mechanisms are, by definition, dramatically
different and can even be antithetical. Even our approach to each is
diametrically opposite: inductive science for the study of biological systems
vs. engineering synthesis for the design and construction of robotic systems.
The past 20 years have seen several conceptual advances in both fields and the
quest to unify them. Chief among them is the reluctant recognition that their
underlying fundamental mechanisms may actually share limited common ground,
while exhibiting many fundamental differences. This recognition is particularly
liberating because it allows us to resolve and move beyond multiple paradoxes
and contradictions that arose from the initial reasonable assumption of a large
common ground. Here, we begin by introducing the perspective of neuromechanics,
which emphasizes that real-world behavior emerges from the intimate
interactions among the physical structure of the system, the mechanical
requirements of a task, the feasible neural control actions to produce it, and
the ability of the neuromuscular system to adapt through interactions with the
environment. This allows us to articulate a succinct overview of a few salient
conceptual paradoxes and contradictions regarding under-determined vs.
over-determined mechanics, under- vs. over-actuated control, prescribed vs.
emergent function, learning vs. implementation vs. adaptation, prescriptive vs.
descriptive synergies, and optimal vs. habitual performance. We conclude by
presenting open questions and suggesting directions for future research. We
hope this frank assessment of the state-of-the-art will encourage and guide
these communities to continue to interact and make progress in these important
areas
Sparse Signal Processing Concepts for Efficient 5G System Design
As it becomes increasingly apparent that 4G will not be able to meet the
emerging demands of future mobile communication systems, the question what
could make up a 5G system, what are the crucial challenges and what are the key
drivers is part of intensive, ongoing discussions. Partly due to the advent of
compressive sensing, methods that can optimally exploit sparsity in signals
have received tremendous attention in recent years. In this paper we will
describe a variety of scenarios in which signal sparsity arises naturally in 5G
wireless systems. Signal sparsity and the associated rich collection of tools
and algorithms will thus be a viable source for innovation in 5G wireless
system design. We will discribe applications of this sparse signal processing
paradigm in MIMO random access, cloud radio access networks, compressive
channel-source network coding, and embedded security. We will also emphasize
important open problem that may arise in 5G system design, for which sparsity
will potentially play a key role in their solution.Comment: 18 pages, 5 figures, accepted for publication in IEEE Acces
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