4,739 research outputs found
Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models
Robot introspection, as opposed to anomaly detection typical in process
monitoring, helps a robot understand what it is doing at all times. A robot
should be able to identify its actions not only when failure or novelty occurs,
but also as it executes any number of sub-tasks. As robots continue their quest
of functioning in unstructured environments, it is imperative they understand
what is it that they are actually doing to render them more robust. This work
investigates the modeling ability of Bayesian nonparametric techniques on
Markov Switching Process to learn complex dynamics typical in robot contact
tasks. We study whether the Markov switching process, together with Bayesian
priors can outperform the modeling ability of its counterparts: an HMM with
Bayesian priors and without. The work was tested in a snap assembly task
characterized by high elastic forces. The task consists of an insertion subtask
with very complex dynamics. Our approach showed a stronger ability to
generalize and was able to better model the subtask with complex dynamics in a
computationally efficient way. The modeling technique is also used to learn a
growing library of robot skills, one that when integrated with low-level
control allows for robot online decision making.Comment: final version submitted to humanoids 201
Integrated Pre-Processing for Bayesian Nonlinear System Identification with Gaussian Processes
We introduce GP-FNARX: a new model for nonlinear system identification based
on a nonlinear autoregressive exogenous model (NARX) with filtered regressors
(F) where the nonlinear regression problem is tackled using sparse Gaussian
processes (GP). We integrate data pre-processing with system identification
into a fully automated procedure that goes from raw data to an identified
model. Both pre-processing parameters and GP hyper-parameters are tuned by
maximizing the marginal likelihood of the probabilistic model. We obtain a
Bayesian model of the system's dynamics which is able to report its uncertainty
in regions where the data is scarce. The automated approach, the modeling of
uncertainty and its relatively low computational cost make of GP-FNARX a good
candidate for applications in robotics and adaptive control.Comment: Proceedings of the 52th IEEE International Conference on Decision and
Control (CDC), Firenze, Italy, December 201
Sequential projection pursuit for optimal transformation of autoregressive coefficients for damage detection in an experimental wind turbine blade
Peer reviewedPublisher PD
Estimation of Autoregressive Parameters from Noisy Observations Using Iterated Covariance Updates
Estimating the parameters of the autoregressive (AR) random process is a problem that has been well-studied. In many applications, only noisy measurements of AR process are available. The effect of the additive noise is that the system can be modeled as an AR model with colored noise, even when the measurement noise is white, where the correlation matrix depends on the AR parameters. Because of the correlation, it is expedient to compute using multiple stacked observations. Performing a weighted least-squares estimation of the AR parameters using an inverse covariance weighting can provide significantly better parameter estimates, with improvement increasing with the stack depth. The estimation algorithm is essentially a vector RLS adaptive filter, with time-varying covariance matrix. Different ways of estimating the unknown covariance are presented, as well as a method to estimate the variances of the AR and observation noise. The notation is extended to vector autoregressive (VAR) processes. Simulation results demonstrate performance improvements in coefficient error and in spectrum estimation
Fast, Robust, and Versatile Event Detection through HMM Belief State Gradient Measures
Event detection is a critical feature in data-driven systems as it assists
with the identification of nominal and anomalous behavior. Event detection is
increasingly relevant in robotics as robots operate with greater autonomy in
increasingly unstructured environments. In this work, we present an accurate,
robust, fast, and versatile measure for skill and anomaly identification. A
theoretical proof establishes the link between the derivative of the
log-likelihood of the HMM filtered belief state and the latest emission
probabilities. The key insight is the inverse relationship in which gradient
analysis is used for skill and anomaly identification. Our measure showed
better performance across all metrics than related state-of-the art works. The
result is broadly applicable to domains that use HMMs for event detection.Comment: 8 pages, 7 figures, double col, ieee conference forma
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