Interactive product catalogue with user preference tracking

In the context of m-commerce, small screen size poses serious difficulty for users to browse effectively through a product catalogue, given the limited number of products that may be presented on-screen. Despite the availability of search engines, filters and recommender systems to aid users, these techniques focus on a narrow segment of product offering. The users are thus denied the opportunity to do a more expansive exploration of the products available. This paper describes a novel approach to overcome the constraints of small screen size. Through integration of a product catalogue with a recommender system, an adaptive system has been created that guides users through the process of product browsing. An original technique has been developed to cluster similar positive examples together to identify areas of interest of a user. The performance of this technique has been evaluated and the results proved to be promising

Intelligent Product Brokering for E-Commerce: An Incremental Approach to Unaccounted Attribute Detection

This research concentrates on designing generic product-brokering agent to understand user preference towards a product category and recommends a list of products to the user according to the preference captured by the agent. The proposed solution is able to detect both quantifiable and non-quantifiable attributes through a user feedback system. Unlike previous approaches, this research allows the detection of unaccounted attributes that are not within the ontology of the system. No tedious change of the algorithm, database, or ontology is required when a new product attribute is introduced. This approach only requires the attribute to be within the description field of the product. The system analyzes the general product descriptions field and creates a list of candidate attributes affecting the user’s preference. A genetic algorithm verifies these candidate attributes and excess attributes are identified and filtered off. A prototype has been created and our results show positive results in the detection of unaccounted attributes affecting a user

More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact. In this paper, we investigate how a robot can learn to use tactile information to iteratively and efficiently adjust its grasp. To this end, we propose an end-to-end action-conditional model that learns regrasping policies from raw visuo-tactile data. This model -- a deep, multimodal convolutional network -- predicts the outcome of a candidate grasp adjustment, and then executes a grasp by iteratively selecting the most promising actions. Our approach requires neither calibration of the tactile sensors, nor any analytical modeling of contact forces, thus reducing the engineering effort required to obtain efficient grasping policies. We train our model with data from about 6,450 grasping trials on a two-finger gripper equipped with GelSight high-resolution tactile sensors on each finger. Across extensive experiments, our approach outperforms a variety of baselines at (i) estimating grasp adjustment outcomes, (ii) selecting efficient grasp adjustments for quick grasping, and (iii) reducing the amount of force applied at the fingers, while maintaining competitive performance. Finally, we study the choices made by our model and show that it has successfully acquired useful and interpretable grasping behaviors.Comment: 8 pages. Published on IEEE Robotics and Automation Letters (RAL). Website: https://sites.google.com/view/more-than-a-feelin

Learning a Unified Control Policy for Safe Falling

Being able to fall safely is a necessary motor skill for humanoids performing highly dynamic tasks, such as running and jumping. We propose a new method to learn a policy that minimizes the maximal impulse during the fall. The optimization solves for both a discrete contact planning problem and a continuous optimal control problem. Once trained, the policy can compute the optimal next contacting body part (e.g. left foot, right foot, or hands), contact location and timing, and the required joint actuation. We represent the policy as a mixture of actor-critic neural network, which consists of n control policies and the corresponding value functions. Each pair of actor-critic is associated with one of the n possible contacting body parts. During execution, the policy corresponding to the highest value function will be executed while the associated body part will be the next contact with the ground. With this mixture of actor-critic architecture, the discrete contact sequence planning is solved through the selection of the best critics while the continuous control problem is solved by the optimization of actors. We show that our policy can achieve comparable, sometimes even higher, rewards than a recursive search of the action space using dynamic programming, while enjoying 50 to 400 times of speed gain during online execution