149 research outputs found
Using Convolutional Neural Networks in Robots with Limited Computational Resources: Detecting NAO Robots while Playing Soccer
The main goal of this paper is to analyze the general problem of using
Convolutional Neural Networks (CNNs) in robots with limited computational
capabilities, and to propose general design guidelines for their use. In
addition, two different CNN based NAO robot detectors that are able to run in
real-time while playing soccer are proposed. One of the detectors is based on
the XNOR-Net and the other on the SqueezeNet. Each detector is able to process
a robot object-proposal in ~1ms, with an average number of 1.5 proposals per
frame obtained by the upper camera of the NAO. The obtained detection rate is
~97%.Comment: Accepted in the RoboCup Symposium 2017. Final version will be
published at Springe
Toward Real-Time Decentralized Reinforcement Learning using Finite Support Basis Functions
This paper addresses the design and implementation of complex Reinforcement
Learning (RL) behaviors where multi-dimensional action spaces are involved, as
well as the need to execute the behaviors in real-time using robotic platforms
with limited computational resources and training times. For this purpose, we
propose the use of decentralized RL, in combination with finite support basis
functions as alternatives to Gaussian RBF, in order to alleviate the effects of
the curse of dimensionality on the action and state spaces respectively, and to
reduce the computation time. As testbed, a RL based controller for the in-walk
kick in NAO robots, a challenging and critical problem for soccer robotics, is
used. The reported experiments show empirically that our solution saves up to
99.94% of execution time and 98.82% of memory consumption during execution,
without diminishing performance compared to classical approaches.Comment: Accepted in the RoboCup Symposium 2017. Final version will be
published at Springe
Fall Detection and Management in Biped Humanoid Robots
Abstract-The appropriate management of fall situationsi.e. fast instability detection, avoidance of unintentional falls, falling without damaging the body, fast recovering of the standing position after a fall -is an essential ability of biped humanoid robots. This issue is especially important for humanoid robots carrying out demanding movements such as walking in irregular surfaces, running or practicing a given sport (e.g. soccer). In a former contribution we have addressed the design of low-damage fall sequences, which can be activated/triggered by the robot in case of a detected unintentional fall or an intentional fall (common situation in robot soccer). In this article we tackle the detection of instability and the avoidance of falls in biped humanoids, as well as the integration of all components in a single framework. In this framework a fall can be avoided or a falling sequence can be triggered depending on the detected instability's degree. The proposed fall detection and fall avoidance subsystems are validated in real world-experiments with biped humanoid robots
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