43,423 research outputs found
Personalization framework for adaptive robotic feeding assistance
The final publication is available at link.springer.comThe deployment of robots at home must involve robots with pre-defined skills and the capability of
personalizing their behavior by non-expert users. A framework to tackle this personalization is presented and applied
to an automatic feeding task. The personalization involves the caregiver providing several examples of feeding using
Learning-by- Demostration, and a ProMP formalism to compute an overall trajectory and the variance along the path.
Experiments show the validity of the approach in generating different feeding motions to adapt to user’s preferences,
automatically extracting the relevant task parameters. The importance of the nature of the demonstrations is also
assessed, and two training strategies are compared. © Springer International Publishing AG 2016.Peer ReviewedPostprint (author's final draft
Nurses’ Perception of Discharging the Medically Complex Pediatric Patient
The purpose of this study is to query the nurses for their perceptions of the barriers and facilitators of discharging medically complex pediatric patients from a freestanding children’s hospital in central California. Using a mixed methods research design via an online survey, 90 nurses identified 3 distinct themes that act as barriers. Those barriers include: 1) knowing the plan of care, 2) time, and 3) disposition of the family. Several implications for improving the discharge process for medically complex patients and overcoming the identified barriers include strategies to improve multidisciplinary communication, implementation of a Family Learning Center, use of video interpreters when in-person interpreters are not available, and respect for discharge readiness. Recognizing and implementing the appropriate interventions based on nurses’ feedback have the potential to improve quality and patient safety
An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems
Non-linear dynamical systems represent a compact, flexible, and robust tool
for reactive motion generation. The effectiveness of dynamical systems relies
on their ability to accurately represent stable motions. Several approaches
have been proposed to learn stable and accurate motions from demonstration.
Some approaches work by separating accuracy and stability into two learning
problems, which increases the number of open parameters and the overall
training time. Alternative solutions exploit single-step learning but restrict
the applicability to one regression technique. This paper presents a
single-step approach to learn stable and accurate motions that work with any
regression technique. The approach makes energy considerations on the learned
dynamics to stabilize the system at run-time while introducing small deviations
from the demonstrated motion. Since the initial value of the energy injected
into the system affects the reproduction accuracy, it is estimated from
training data using an efficient procedure. Experiments on a real robot and a
comparison on a public benchmark shows the effectiveness of the proposed
approach.Comment: Accepted at the International Conference on Robotics and Automation
202
How hard is it to cross the room? -- Training (Recurrent) Neural Networks to steer a UAV
This work explores the feasibility of steering a drone with a (recurrent)
neural network, based on input from a forward looking camera, in the context of
a high-level navigation task. We set up a generic framework for training a
network to perform navigation tasks based on imitation learning. It can be
applied to both aerial and land vehicles. As a proof of concept we apply it to
a UAV (Unmanned Aerial Vehicle) in a simulated environment, learning to cross a
room containing a number of obstacles. So far only feedforward neural networks
(FNNs) have been used to train UAV control. To cope with more complex tasks, we
propose the use of recurrent neural networks (RNN) instead and successfully
train an LSTM (Long-Short Term Memory) network for controlling UAVs. Vision
based control is a sequential prediction problem, known for its highly
correlated input data. The correlation makes training a network hard,
especially an RNN. To overcome this issue, we investigate an alternative
sampling method during training, namely window-wise truncated backpropagation
through time (WW-TBPTT). Further, end-to-end training requires a lot of data
which often is not available. Therefore, we compare the performance of
retraining only the Fully Connected (FC) and LSTM control layers with networks
which are trained end-to-end. Performing the relatively simple task of crossing
a room already reveals important guidelines and good practices for training
neural control networks. Different visualizations help to explain the behavior
learned.Comment: 12 pages, 30 figure
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