Structured Prediction for CRISP Inverse Kinematics Learning With Misspecified Robot Models

With the recent advances in machine learning, problems that traditionally would require accurate modeling to be solved analytically can now be successfully approached with data-driven strategies. Among these, computing the inverse kinematics of a redundant robot arm poses a significant challenge due to the non-linear structure of the robot, the hard joint constraints and the non-invertible kinematics map. Moreover, most learning algorithms consider a completely data-driven approach, while often useful information on the structure of the robot is available and should be positively exploited. In this work, we present a simple, yet effective, approach for learning the inverse kinematics. We introduce a structured prediction algorithm that combines a data-driven strategy with the model provided by a forward kinematics function – even when this function is misspecified – to accurately solve the problem. The proposed approach ensures that predicted joint configurations are well within the robot's constraints. We also provide statistical guarantees on the generalization properties of our estimator as well as an empirical evaluation of its performance on trajectory reconstruction tasks

Dirichlet-based Gaussian Processes for Large-scale Calibrated Classification

This paper studies the problem of deriving fast and accurate classification algorithms with uncertainty quantification. Gaussian process classification provides a principled approach, but the corresponding computational burden is hardly sustainable in large-scale problems and devising efficient alternatives is a challenge. In this work, we investigate if and how Gaussian process regression directly applied to classification labels can be used to tackle this question. While in this case training is remarkably faster, predictions need to be calibrated for classification and uncertainty estimation. To this aim, we propose a novel regression approach where the labels are obtained through the interpretation of classification labels as the coefficients of a degenerate Dirichlet distribution. Extensive experimental results show that the proposed approach provides essentially the same accuracy and uncertainty quantification as Gaussian process classification while requiring only a fraction of computational resources

Incremental Semiparametric Inverse Dynamics Learning

This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling based on incremental kernel methods, with no prior information on the mechanical properties of the system. This yields to an incremental semiparametric approach, leveraging the advantages of both the parametric and nonparametric models. We validate the proposed technique learning the dynamics of one arm of the iCub humanoid robot

Constrained DMPs for Feasible Skill Learning on Humanoid Robots

In the context of humanoid skill learning, movement primitives have gained much attention because of their compact representation and convenient combination with a myriad of optimization approaches. Among them, a well-known scheme is to use Dynamic Movement Primitives (DMPs) with reinforcement learning (RL) algorithms. While various remarkable results have been reported, skill learning with physical constraints has not been sufficiently investigated. For example, when RL is employed to optimize the robot joint trajectories, the exploration noise could drive the resulting trajectory out of the joint limits. In this paper, we focus on robot skill learning characterized by joint limit avoidance, by introducing the novel Constrained Dynamic Movement Primitives (CDMPs). By controlling a set of transformed states (called exogenous states) instead of the original DMPs states, CDMPs are capable of maintaining the joint trajectories within the safety limits. We validate CDMPs on the humanoid robot iCub, showing the applicability of our approach

Incremental Robot Learning of New Objects with Fixed Update Time

8 pages, 3 figuresWe consider object recognition in the context of lifelong learning, where a robotic agent learns to discriminate between a growing number of object classes as it accumulates experience about the environment. We propose an incremental variant of the Regularized Least Squares for Classification (RLSC) algorithm, and exploit its structure to seamlessly add new classes to the learned model. The presented algorithm addresses the problem of having an unbalanced proportion of training examples per class, which occurs when new objects are presented to the system for the first time. We evaluate our algorithm on both a machine learning benchmark dataset and two challenging object recognition tasks in a robotic setting. Empirical evidence shows that our approach achieves comparable or higher classification performance than its batch counterpart when classes are unbalanced, while being significantly faster

Learning to Avoid Obstacles With Minimal Intervention Control

Programming by demonstration has received much attention as it offers a general framework which allows robots to efficiently acquire novel motor skills from a human teacher. While traditional imitation learning that only focuses on either Cartesian or joint space might become inappropriate in situations where both spaces are equally important (e.g., writing or striking task), hybrid imitation learning of skills in both Cartesian and joint spaces simultaneously has been studied recently. However, an important issue which often arises in dynamical or unstructured environments is overlooked, namely how can a robot avoid obstacles? In this paper, we aim to address the problem of avoiding obstacles in the context of hybrid imitation learning. Specifically, we propose to tackle three subproblems: (i) designing a proper potential field so as to bypass obstacles, (ii) guaranteeing joint limits are respected when adjusting trajectories in the process of avoiding obstacles, and (iii) determining proper control commands for robots such that potential human-robot interaction is safe. By solving the aforementioned subproblems, the robot is capable of generalizing observed skills to new situations featuring obstacles in a feasible and safe manner. The effectiveness of the proposed method is validated through a toy example as well as a real transportation experiment on the iCub humanoid robot

Learning to Sequence Multiple Tasks with Competing Constraints

Imitation learning offers a general framework where robots can efficiently acquire novel motor skills from demonstrations of a human teacher. While many promising achievements have been shown, the majority of them are only focused on single-stroke movements, without taking into account the problem of multi-tasks sequencing. Conceivably, sequencing different atomic tasks can further augment the robot's capabilities as well as avoid repetitive demonstrations. In this paper, we propose to address the issue of multi-tasks sequencing with emphasis on handling the so-called competing constraints, which emerge due to the existence of the concurrent constraints from Cartesian and joint trajectories. Specifically, we explore the null space of the robot from an information-theoretic perspective in order to maintain imitation fidelity during transition between consecutive tasks. The effectiveness of the proposed method is validated through simulated and real experiments on the iCub humanoid robot

Evaluation of the current knowledge limitations in breast cancer research: a gap analysis

BACKGROUND A gap analysis was conducted to determine which areas of breast cancer research, if targeted by researchers and funding bodies, could produce the greatest impact on patients. METHODS Fifty-six Breast Cancer Campaign grant holders and prominent UK breast cancer researchers participated in a gap analysis of current breast cancer research. Before, during and following the meeting, groups in seven key research areas participated in cycles of presentation, literature review and discussion. Summary papers were prepared by each group and collated into this position paper highlighting the research gaps, with recommendations for action. RESULTS Gaps were identified in all seven themes. General barriers to progress were lack of financial and practical resources, and poor collaboration between disciplines. Critical gaps in each theme included: (1) genetics (knowledge of genetic changes, their effects and interactions); (2) initiation of breast cancer (how developmental signalling pathways cause ductal elongation and branching at the cellular level and influence stem cell dynamics, and how their disruption initiates tumour formation); (3) progression of breast cancer (deciphering the intracellular and extracellular regulators of early progression, tumour growth, angiogenesis and metastasis); (4) therapies and targets (understanding who develops advanced disease); (5) disease markers (incorporating intelligent trial design into all studies to ensure new treatments are tested in patient groups stratified using biomarkers); (6) prevention (strategies to prevent oestrogen-receptor negative tumours and the long-term effects of chemoprevention for oestrogen-receptor positive tumours); (7) psychosocial aspects of cancer (the use of appropriate psychosocial interventions, and the personal impact of all stages of the disease among patients from a range of ethnic and demographic backgrounds). CONCLUSION Through recommendations to address these gaps with future research, the long-term benefits to patients will include: better estimation of risk in families with breast cancer and strategies to reduce risk; better prediction of drug response and patient prognosis; improved tailoring of treatments to patient subgroups and development of new therapeutic approaches; earlier initiation of treatment; more effective use of resources for screening populations; and an enhanced experience for people with or at risk of breast cancer and their families. The challenge to funding bodies and researchers in all disciplines is to focus on these gaps and to drive advances in knowledge into improvements in patient care

Abstracts of the 2014 Brains, Minds, and Machines Summer School

A compilation of abstracts from the student projects of the 2014 Brains, Minds, and Machines Summer School, held at Woods Hole Marine Biological Lab, May 29 - June 12, 2014.This work was supported by the Center for Brains, Minds and Machines (CBMM), funded by NSF STC award CCF-1231216

Nrf2 Expression Is Regulated by Epigenetic Mechanisms in Prostate Cancer of TRAMP Mice

Nuclear factor-erythroid 2 p45-related factor 2 (Nrf2) is a transcription factor which regulates the expression of many cytoprotective genes. In the present study, we found that the expression of Nrf2 was suppressed in prostate tumor of the Transgenic Adenocarcinoma of Mouse Prostate (TRAMP) mice. Similarly, the expression of Nrf2 and the induction of NQO1 were also substantially suppressed in tumorigenic TRAMP C1 cells but not in non-tumorigenic TRAMP C3 cells. Examination of the promoter region of the mouse Nrf2 gene identified a CpG island, which was methylated at specific CpG sites in prostate TRAMP tumor and in TRAMP C1 cells but not in normal prostate or TRAMP C3 cells, as shown by bisulfite genomic sequencing. Reporter assays indicated that methylation of these CpG sites dramatically inhibited the transcriptional activity of the Nrf2 promoter. Chromatin immunopreceipitation (ChIP) assays revealed increased binding of the methyl-CpG-binding protein 2 (MBD2) and trimethyl-histone H3 (Lys9) proteins to these CpG sites in the TRAMP C1 cells as compared to TRAMP C3 cells. In contrast, the binding of RNA Pol II and acetylated histone H3 to the Nrf2 promoter was decreased. Furthermore, treatment of TRAMP C1 cells with DNA methyltransferase (DNMT) inhibitor 5-aza-2′-deoxycytidine (5-aza) and histone deacetylase (HDAC) inhibitor trichostatin A (TSA) restored the expression of Nrf2 as well as the induction of NQO1 in TRAMP C1 cells. Taken together, these results indicate that the expression of Nrf2 is suppressed epigenetically by promoter methylation associated with MBD2 and histone modifications in the prostate tumor of TRAMP mice. Our present findings reveal a novel mechanism by which Nrf2 expression is suppressed in TRAMP prostate tumor, shed new light on the role of Nrf2 in carcinogenesis and provide potential new directions for the detection and prevention of prostate cancer