Robot Composite Learning and the Nunchaku Flipping Challenge

Advanced motor skills are essential for robots to physically coexist with humans. Much research on robot dynamics and control has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this paper, we present a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation. The method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. We also introduce the "nunchaku flipping challenge", an extreme test that puts hard requirements to all these three aspects. Continued from our previous presentations, this paper introduces the latest update of the composite learning scheme and the physical success of the nunchaku flipping challenge

Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen

Change Mining in Adaptive Process Management Systems

The wide-spread adoption of process-aware information systems has resulted in a bulk of computerized information about real-world processes. This data can be utilized for process performance analysis as well as for process improvement. In this context process mining offers promising perspectives. So far, existing mining techniques have been applied to operational processes, i.e., knowledge is extracted from execution logs (process discovery), or execution logs are compared with some a-priori process model (conformance checking). However, execution logs only constitute one kind of data gathered during process enactment. In particular, adaptive processes provide additional information about process changes (e.g., ad-hoc changes of single process instances) which can be used to enable organizational learning. In this paper we present an approach for mining change logs in adaptive process management systems. The change process discovered through process mining provides an aggregated overview of all changes that happened so far. This, in turn, can serve as basis for all kinds of process improvement actions, e.g., it may trigger process redesign or better control mechanisms

Behavioral networks as a model for intelligent agents

On-going work at NASA Langley Research Center in the development and demonstration of a paradigm called behavioral networks as an architecture for intelligent agents is described. This work focuses on the need to identify a methodology for smoothly integrating the characteristics of low-level robotic behavior, including actuation and sensing, with intelligent activities such as planning, scheduling, and learning. This work assumes that all these needs can be met within a single methodology, and attempts to formalize this methodology in a connectionist architecture called behavioral networks. Behavioral networks are networks of task processes arranged in a task decomposition hierarchy. These processes are connected by both command/feedback data flow, and by the forward and reverse propagation of weights which measure the dynamic utility of actions and beliefs