8,739 research outputs found
Attraction of Spiral Waves by Localized Inhomogeneities with Small-World Connections in Excitable Media
Trapping and un-trapping of spiral tips in a two-dimensional homogeneous
excitable medium with local small-world connections is studied by numerical
simulation. In a homogeneous medium which can be simulated with a lattice of
regular neighborhood connections, the spiral wave is in the meandering regime.
When changing the topology of a small region from regular connections to
small-world connections, the tip of a spiral waves is attracted by the
small-world region, where the average path length declines with the
introduction of long distant connections. The "trapped" phenomenon also occurs
in regular lattices where the diffusion coefficient of the small region is
increased. The above results can be explained by the eikonal equation and the
relation between core radius and diffusion coefficient.Comment: 5 pages, 4 figure
Robot Composite Learning and the Nunchaku Flipping Challenge
Advanced motor skills are essential for robots to physically coexist with
humans. Much research on robot dynamics and control has achieved success on
hyper robot motor capabilities, but mostly through heavily case-specific
engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous
manner, robot learning from human demonstration (LfD) has achieved great
progress, but still has limitations handling dynamic skills and compound
actions. In this paper, we present a composite learning scheme which goes
beyond LfD and integrates robot learning from human definition, demonstration,
and evaluation. The method tackles advanced motor skills that require dynamic
time-critical maneuver, complex contact control, and handling partly soft
partly rigid objects. We also introduce the "nunchaku flipping challenge", an
extreme test that puts hard requirements to all these three aspects. Continued
from our previous presentations, this paper introduces the latest update of the
composite learning scheme and the physical success of the nunchaku flipping
challenge
Multiform Adaptive Robot Skill Learning from Humans
Object manipulation is a basic element in everyday human lives. Robotic
manipulation has progressed from maneuvering single-rigid-body objects with
firm grasping to maneuvering soft objects and handling contact-rich actions.
Meanwhile, technologies such as robot learning from demonstration have enabled
humans to intuitively train robots. This paper discusses a new level of robotic
learning-based manipulation. In contrast to the single form of learning from
demonstration, we propose a multiform learning approach that integrates
additional forms of skill acquisition, including adaptive learning from
definition and evaluation. Moreover, going beyond state-of-the-art technologies
of handling purely rigid or soft objects in a pseudo-static manner, our work
allows robots to learn to handle partly rigid partly soft objects with
time-critical skills and sophisticated contact control. Such capability of
robotic manipulation offers a variety of new possibilities in human-robot
interaction.Comment: Accepted to 2017 Dynamic Systems and Control Conference (DSCC),
Tysons Corner, VA, October 11-1
Optical Flow Guided Feature: A Fast and Robust Motion Representation for Video Action Recognition
Motion representation plays a vital role in human action recognition in
videos. In this study, we introduce a novel compact motion representation for
video action recognition, named Optical Flow guided Feature (OFF), which
enables the network to distill temporal information through a fast and robust
approach. The OFF is derived from the definition of optical flow and is
orthogonal to the optical flow. The derivation also provides theoretical
support for using the difference between two frames. By directly calculating
pixel-wise spatiotemporal gradients of the deep feature maps, the OFF could be
embedded in any existing CNN based video action recognition framework with only
a slight additional cost. It enables the CNN to extract spatiotemporal
information, especially the temporal information between frames simultaneously.
This simple but powerful idea is validated by experimental results. The network
with OFF fed only by RGB inputs achieves a competitive accuracy of 93.3% on
UCF-101, which is comparable with the result obtained by two streams (RGB and
optical flow), but is 15 times faster in speed. Experimental results also show
that OFF is complementary to other motion modalities such as optical flow. When
the proposed method is plugged into the state-of-the-art video action
recognition framework, it has 96:0% and 74:2% accuracy on UCF-101 and HMDB-51
respectively. The code for this project is available at
https://github.com/kevin-ssy/Optical-Flow-Guided-Feature.Comment: CVPR 2018. code available at
https://github.com/kevin-ssy/Optical-Flow-Guided-Featur
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