Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models

Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild. Perceptual aliasing is the phenomenon where different places generate a similar visual (or, in general, perceptual) footprint. This causes spurious measurements to be fed to the SLAM estimator, which typically results in incorrect localization and mapping results. The problem is exacerbated by the fact that those outliers are highly correlated, in the sense that perceptual aliasing creates a large number of mutually-consistent outliers. Another issue stems from the fact that most state-of-the-art techniques rely on a given trajectory guess (e.g., from odometry) to discern between inliers and outliers and this makes the resulting pipeline brittle, since the accumulation of error may result in incorrect choices and recovery from failures is far from trivial. This work provides a unified framework to model perceptual aliasing in SLAM and provides practical algorithms that can cope with outliers without relying on any initial guess. We present two main contributions. The first is a Discrete-Continuous Graphical Model (DC-GM) for SLAM: the continuous portion of the DC-GM captures the standard SLAM problem, while the discrete portion describes the selection of the outliers and models their correlation. The second contribution is a semidefinite relaxation to perform inference in the DC-GM that returns estimates with provable sub-optimality guarantees. Experimental results on standard benchmarking datasets show that the proposed technique compares favorably with state-of-the-art methods while not relying on an initial guess for optimization.Comment: 13 pages, 14 figures, 1 tabl

Developing an embodied gait on a compliant quadrupedal robot

Incorporating the body dynamics of compliant robots into their controller architectures can drastically reduce the complexity of locomotion control. An extreme version of this embodied control principle was demonstrated in highly compliant tensegrity robots, for which stable gait generation was achieved by using only optimized linear feedback from the robot's sensors to its actuators. The morphology of quadrupedal robots has previously been used for sensing and for control of a compliant spine, but never for gait generation. In this paper, we successfully apply embodied control to the compliant, quadrupedal Oncilla robot. As initial experiments indicated that mere linear feedback does not suffice, we explore the minimal requirements for robust gait generation in terms of memory and nonlinear complexity. Our results show that a memory-less feedback controller can generate a stable trot by learning the desired nonlinear relation between the input and the output signals. We believe this method can provide a very useful tool for transferring knowledge from open loop to closed loop control on compliant robots

Towards a neural hierarchy of time scales for motor control

Animals show remarkable rich motion skills which are still far from realizable with robots. Inspired by the neural circuits which generate rhythmic motion patterns in the spinal cord of all vertebrates, one main research direction points towards the use of central pattern generators in robots. On of the key advantages of this, is that the dimensionality of the control problem is reduced. In this work we investigate this further by introducing a multi-timescale control hierarchy with at its core a hierarchy of recurrent neural networks. By means of some robot experiments, we demonstrate that this hierarchy can embed any rhythmic motor signal by imitation learning. Furthermore, the proposed hierarchy allows the tracking of several high level motion properties (e.g.: amplitude and offset), which are usually observed at a slower rate than the generated motion. Although these experiments are preliminary, the results are promising and have the potential to open the door for rich motor skills and advanced control

A Proposal for a Multi-Drive Heterogeneous Modular Pipe- Inspection Micro-Robot

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the di_erent types of pipes that exists, a modular approach with di_erent types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a _eld in which there are not many prototypes. The robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototypes testing

Exploiting short-term memory in soft body dynamics as a computational resource

Soft materials are not only highly deformable but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity, and potentially infinitely many degrees of freedom. Here we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way toward exploiting passive body dynamics for control of a large class of underactuated systems.Comment: 22 pages, 11 figures; email address correcte

One step backpropagation through time for learning input mapping in reservoir computing applied to speech recognition

Recurrent neural networks are very powerful engines for processing information that is coded in time, however, many problems with common training algorithms, such as Backpropagation Through Time, remain. Because of this, another important learning setup known as Reservoir Computing has appeared in recent years, where one uses an essentially untrained network to perform computations. Though very successful in many applications, using a random network can be quite inefficient when considering the required number of neurons and the associated computational costs. In this paper we introduce a highly simplified version of Backpropagation Through Time by basically truncating the error backpropagation to one step back in time, and we combine this with the classic Reservoir Computing setup using an instantaneous linear readout. We apply this setup to a spoken digit recognition task and show it to give very good results for small networks

Artificial life: Discipline or method? Report on a debate held at ECAL99

How can artificial life (AL) advance scientific understanding? Is AL best seen as a new discipline, or as a collection of novel computational methods that can be applied to old problems? And given that the products of AL research range from abstract existence proofs to working robots to detailed simulation models, are there standards of quality or usefulness that can be applied across the whole field? On September 16th, 1999 in Lausanne, Switzerland, a debate on these questions was held as part of the Fifth European Conference on Artificial Life. As the organizers, we wanted to foster a constructive discussion regarding the scientific status, and future, of AL. We were well aware that some of these issues had been raised before (e.g., Miller [2]) but we felt that earlier treatments had perhaps not reached a wide enough audience. The format for the debate consisted of contributions from invited panelists followed by an open discussion. The panelists were Chris Langton, Mark Bedau, Simon Kirby, and Inman Harvey—Hiroaki Kitano was scheduled to participate but regrettably could not attend the conference

Boosting computational power through spatial multiplexing in quantum reservoir computing

Quantum reservoir computing provides a framework for exploiting the natural dynamics of quantum systems as a computational resource. It can implement real-time signal processing and solve temporal machine learning problems in general, which requires memory and nonlinear mapping of the recent input stream using the quantum dynamics in computational supremacy region, where the classical simulation of the system is intractable. A nuclear magnetic resonance spin-ensemble system is one of the realistic candidates for such physical implementations, which is currently available in laboratories. In this paper, considering these realistic experimental constraints for implementing the framework, we introduce a scheme, which we call a spatial multiplexing technique, to effectively boost the computational power of the platform. This technique exploits disjoint dynamics, which originate from multiple different quantum systems driven by common input streams in parallel. Accordingly, unlike designing a single large quantum system to increase the number of qubits for computational nodes, it is possible to prepare a huge number of qubits from multiple but small quantum systems, which are operationally easy to handle in laboratory experiments. We numerically demonstrate the effectiveness of the technique using several benchmark tasks and quantitatively investigate its specifications, range of validity, and limitations in detail.Comment: 15 page