Learning Contact-Rich Manipulation Skills with Guided Policy Search

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the behavior to a compact, low-dimensional representation, limiting its expressiveness and generality. In this paper, we extend a recently developed policy search method \cite{la-lnnpg-14} and use it to learn a range of dynamic manipulation behaviors with highly general policy representations, without using known models or example demonstrations. Our approach learns a set of trajectories for the desired motion skill by using iteratively refitted time-varying linear models, and then unifies these trajectories into a single control policy that can generalize to new situations. To enable this method to run on a real robot, we introduce several improvements that reduce the sample count and automate parameter selection. We show that our method can acquire fast, fluent behaviors after only minutes of interaction time, and can learn robust controllers for complex tasks, including putting together a toy airplane, stacking tight-fitting lego blocks, placing wooden rings onto tight-fitting pegs, inserting a shoe tree into a shoe, and screwing bottle caps onto bottles

Validation of nonlinear PCA

Linear principal component analysis (PCA) can be extended to a nonlinear PCA by using artificial neural networks. But the benefit of curved components requires a careful control of the model complexity. Moreover, standard techniques for model selection, including cross-validation and more generally the use of an independent test set, fail when applied to nonlinear PCA because of its inherent unsupervised characteristics. This paper presents a new approach for validating the complexity of nonlinear PCA models by using the error in missing data estimation as a criterion for model selection. It is motivated by the idea that only the model of optimal complexity is able to predict missing values with the highest accuracy. While standard test set validation usually favours over-fitted nonlinear PCA models, the proposed model validation approach correctly selects the optimal model complexity.Comment: 12 pages, 5 figure

Learning Feedback Terms for Reactive Planning and Control

With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans. Reactivity can be accomplished through replanning, e.g. model-predictive control, or through a reactive feedback policy that modifies on-going behavior in response to sensory events. In this paper, we investigate how to use machine learning to add reactivity to a previously learned nominal skilled behavior. We approach this by learning a reactive modification term for movement plans represented by nonlinear differential equations. In particular, we use dynamic movement primitives (DMPs) to represent a skill and a neural network to learn a reactive policy from human demonstrations. We use the well explored domain of obstacle avoidance for robot manipulation as a test bed. Our approach demonstrates how a neural network can be combined with physical insights to ensure robust behavior across different obstacle settings and movement durations. Evaluations on an anthropomorphic robotic system demonstrate the effectiveness of our work.Comment: 8 pages, accepted to be published at ICRA 2017 conferenc

Neural-inspired sensors enable sparse, efficient classification of spatiotemporal data

Sparse sensor placement is a central challenge in the efficient characterization of complex systems when the cost of acquiring and processing data is high. Leading sparse sensing methods typically exploit either spatial or temporal correlations, but rarely both. This work introduces a new sparse sensor optimization that is designed to leverage the rich spatiotemporal coherence exhibited by many systems. Our approach is inspired by the remarkable performance of flying insects, which use a few embedded strain-sensitive neurons to achieve rapid and robust flight control despite large gust disturbances. Specifically, we draw on nature to identify targeted neural-inspired sensors on a flapping wing to detect body rotation. This task is particularly challenging as the rotational twisting mode is three orders-of-magnitude smaller than the flapping modes. We show that nonlinear filtering in time, built to mimic strain-sensitive neurons, is essential to detect rotation, whereas instantaneous measurements fail. Optimized sparse sensor placement results in efficient classification with approximately ten sensors, achieving the same accuracy and noise robustness as full measurements consisting of hundreds of sensors. Sparse sensing with neural inspired encoding establishes a new paradigm in hyper-efficient, embodied sensing of spatiotemporal data and sheds light on principles of biological sensing for agile flight control.Comment: 21 pages, 19 figure

Wavelet Neural Networks: A Practical Guide

Wavelet networks (WNs) are a new class of networks which have been used with great success in a wide range of application. However a general accepted framework for applying WNs is missing from the literature. In this study, we present a complete statistical model identification framework in order to apply WNs in various applications. The following subjects were thorough examined: the structure of a WN, training methods, initialization algorithms, variable significance and variable selection algorithms, model selection methods and finally methods to construct confidence and prediction intervals. In addition the complexity of each algorithm is discussed. Our proposed framework was tested in two simulated cases, in one chaotic time series described by the Mackey-Glass equation and in three real datasets described by daily temperatures in Berlin, daily wind speeds in New York and breast cancer classification. Our results have shown that the proposed algorithms produce stable and robust results indicating that our proposed framework can be applied in various applications