Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search

This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by enclosure grasps. It seeks to minimize the number of touches and maximize recognition confidence. The actions are formulated as wrist poses relative to each other, making the algorithm independent of absolute workspace coordinates. The optimal sequence is approximated by Monte Carlo tree search. We demonstrate results in a physics engine and on a real robot. In the physics engine, most object instances were recognized in at most 16 grasps. On a real robot, our method recognized objects in 2--9 grasps and outperformed a greedy baseline.Comment: Accepted to International Conference on Intelligent Robots and Systems (IROS) 201

Active End-Effector Pose Selection for Tactile Object Recognition through Monte Carlo Tree Search

This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by enclosure grasps. It seeks to minimize the number of touches and maximize recognition confidence. The actions are formulated as wrist poses relative to each other, making the algorithm independent of absolute workspace coordinates. The optimal sequence is approximated by Monte Carlo tree search. We demonstrate results in a physics engine and on a real robot. In the physics engine, most object instances were recognized in at most 16 grasps. On a real robot, our method recognized objects in 2--9 grasps and outperformed a greedy baseline.Comment: Accepted to International Conference on Intelligent Robots and Systems (IROS) 201

Active User Authentication for Smartphones: A Challenge Data Set and Benchmark Results

In this paper, automated user verification techniques for smartphones are investigated. A unique non-commercial dataset, the University of Maryland Active Authentication Dataset 02 (UMDAA-02) for multi-modal user authentication research is introduced. This paper focuses on three sensors - front camera, touch sensor and location service while providing a general description for other modalities. Benchmark results for face detection, face verification, touch-based user identification and location-based next-place prediction are presented, which indicate that more robust methods fine-tuned to the mobile platform are needed to achieve satisfactory verification accuracy. The dataset will be made available to the research community for promoting additional research.Comment: 8 pages, 12 figures, 6 tables. Best poster award at BTAS 201

Taking Afrobarometer Data Everywhere

According to statistics gathered by research group Afrobarometer, many countries in Africa lack infrastructure and basic necessities. In fact, Afrobarometer knows the specific rates of need and availability sampled across thirty-six countries but more prosperous African countries do not know these numbers. These more developed countries are in a position to help their less fortunate neighbors if only made aware of the social and economic climate in the respective areas. Our partnership with Afrobarometer will allow us to advertise these statistics through the use of a mobile application. The data will be displayed in a way that is easy for the average reader to digest and understand. By exposing a larger African audience to the results from these public opinion surveys, Afrobarometer hopes to inspire these people to take action and make donations to the appropriate social benefit groups. The countries represented by the surveys can then receive help in the areas expressing need