An Approach for Programming Robots by Demonstration: Generalization Across Different Initial Configurations of Manipulated Objects

Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. DOI : 10.1109/CIRA.2005.1554255Imitation is a powerful learning tool that can be used by a robotic agent to socially learn new skills and tasks. One of the fundamental problems in imitation is the correspondence problem, how to map between the actions, states and effects of the model and imitator agents, when the embodiment of the agents is dissimilar. In our approach, the matching depends on different metrics and granularity. Focusing on object manipulation and arrangement demonstrated by a human, this paper presents JABBERWOCKY, a system that uses different metrics and granularity to produce action command sequences that when executed by an imitating agent can achieve corresponding effects (manipulandum absolute/relative position, displacement, rotation and orientation). Based on a single demonstration of an object manipulation task by a human and using a combination of effect metrics, the system is shown to produce correspondence solutions that are then performed by an imitating agent, generalizing with respect to different initial object positions and orientations in the imitator's workspace. Depending on the particular metrics and granularity used, the corresponding effects will differ (shown in examples), making the appropriate choice of metrics and granularity depend on the task and context

Achieving Corresponding Effects on Multiple Robotic Platforms: Imitating in Context Using Different Effect Metrics

Original paper can be found at: www.aisb.org.uk/publications/proceedings/aisb05/3_Imitation_Final.pdfOne of the fundamental problems in imitation is the correspondence problem, how to map between the actions, states and effects of the model and imitator agents, when the embodiment of the agents is dissimilar. In our approach, the matching is according to different metrics and granularity. This paper presents JABBERWOCKY, a system that uses captured data from a human demonstrator to generate appropriate action commands, addressing the correspondence problem in imitation. Towards a characterization of the space of effect metrics, we are exploring absolute/relative angle and displacement aspects and focus on the overall arrangement and trajectory of manipulated objects. Using as an example a captured demonstration from a human, the system produces a correspondence solution given a selection of effect metrics and starting from dissimilar initial object positions, producing action commands that are then executed by two imitator target platforms (in simulation) to successfully imitate

IRIS Observations of Spicules and Structures Near the Solar Limb

We have analyzed IRIS spectral and slit-jaw observations of a quiet region near the South Pole. In this article we present an overview of the observations, the corrections, and the absolute calibration of the intensity. We focus on the average profiles of strong (Mg ii h and k, C ii and Si iv), as well as of weak spectral lines in the near ultraviolet (NUV) and the far ultraviolet (FUV), including the Mg ii triplet, thus probing the solar atmosphere from the low chromosphere to the transition region. We give the radial variation of bulk spectral parameters as well as line ratios and turbulent velocities. We present measurements of the formation height in lines and in the NUV continuum, from which we find a linear relationship between the position of the limb and the intensity scale height. We also find that low forming lines, such as the Mg ii triplet, show no temporal variations above the limb associated with spicules, suggesting that such lines are formed in a homogeneous atmospheric layer and, possibly, that spicules are formed above the height of 2 arc sec. We discuss the spatio-temporal structure near the limb from images of intensity as a function of position and time. In these images, we identify p-mode oscillations in the cores of lines formed at low heights above the photosphere, slow moving bright features in O i and fast moving bright features in C ii. Finally, we compare the Mg ii k and h line profiles, together with intensity values of the Balmer lines from the literature, with computations from the PROM57Mg non-LTE model developed at the Institut d'Astrophysique Spatiale and estimated values of the physical parameters. We obtain electron temperatures in the range of $\sim8000$ K at small heights to $\sim20000$ K at large heights, electron densities from $1.1 \times 10^{11}$ to $4 \times 10^{10}$ cm$^{-3}$ and a turbulent velocity of $\sim24$km/s.Comment: Accepted for publication in Solar Physic

Type II and IV radio bursts in the active period October-November 2003

In this report we present the Type II and IV radio bursts observed and analyzed by the radio spectrograph ARTEMIS IV1, in the 650-20MHz frequency range, during the active period October-November 2003. These bursts exhibit very rich fine structures such fibers, pulsations and zebra patterns which is associated with certain characteristics of the associated solar flares and CMEs.Comment: Recent Advances in Astronomy and Astrophysics: 7th International Conference of the Hellenic Astronomical Society. AIP Conference Proceedings, Volume 848, pp. 199-206 (2006