12,894 research outputs found
Implicit sampling for path integral control, Monte Carlo localization, and SLAM
The applicability and usefulness of implicit sampling in stochastic optimal
control, stochastic localization, and simultaneous localization and mapping
(SLAM), is explored; implicit sampling is a recently-developed
variationally-enhanced sampling method. The theory is illustrated with
examples, and it is found that implicit sampling is significantly more
efficient than current Monte Carlo methods in test problems for all three
applications
Online semi-parametric learning for inverse dynamics modeling
This paper presents a semi-parametric algorithm for online learning of a
robot inverse dynamics model. It combines the strength of the parametric and
non-parametric modeling. The former exploits the rigid body dynamics equa-
tion, while the latter exploits a suitable kernel function. We provide an
extensive comparison with other methods from the literature using real data
from the iCub humanoid robot. In doing so we also compare two different
techniques, namely cross validation and marginal likelihood optimization, for
estimating the hyperparameters of the kernel function
Derivative-free online learning of inverse dynamics models
This paper discusses online algorithms for inverse dynamics modelling in
robotics. Several model classes including rigid body dynamics (RBD) models,
data-driven models and semiparametric models (which are a combination of the
previous two classes) are placed in a common framework. While model classes
used in the literature typically exploit joint velocities and accelerations,
which need to be approximated resorting to numerical differentiation schemes,
in this paper a new `derivative-free' framework is proposed that does not
require this preprocessing step. An extensive experimental study with real data
from the right arm of the iCub robot is presented, comparing different model
classes and estimation procedures, showing that the proposed `derivative-free'
methods outperform existing methodologies.Comment: 14 pages, 11 figure
Achieving precise mechanical control in intrinsically noisy systems
How can precise control be realized in intrinsically noisy systems? Here, we develop a general theoretical framework that provides a way of achieving precise control in signal-dependent noisy environments. When the control signal has Poisson or supra-Poisson noise, precise control is not possible. If, however, the control signal has sub-Poisson noise, then precise control is possible. For this case, the precise control solution is not a function, but a rapidly varying random process that must be averaged with respect to a governing probability density functional. Our theoretical approach is applied to the control of straight-trajectory arm movement. Sub-Poisson noise in the control signal is shown to be capable of leading to precise control. Intriguingly, the control signal for this system has a natural counterpart, namely the bursting pulses of neurons-trains of Dirac-delta functions-in biological systems to achieve precise control performance
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