Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedFVT9 Fenix 1 Wednesday, October 10, 2012, 16:15–17:30
Multi-modal Learning II
Chair
Co-Chair Shingo Shimoda, RIKEN
16:15–16:30 WedFVT9.1
Experimental study on haptic communication of
a human in a shared human-robot collaborative
task
Julie Dumora, Franck Geffard, Catherine Bidard
LIST, CEA, France
Thibaut Brouillet Philippe Fraisse
EPSYLON, Montpellier, France LIRMM, Montpellier, France
• Robot assistances and operator intention
detection proposed to overcome
limitations of backdrivable robot in long
objects manipulation
• The solution of analysing haptic cues to
tackle the rotation/translation ambiguity is
proposed
• Relationships between operator intention
of motion and haptic measurements are
highlighted
• Wrench measurements are shown to be
an incomplete information for detection of
operator’s intention of motion
Rotation/translation ambiguity
in joint human-robot manipulation
of a long object
(view from top down)
16:45–17:00 WedFVT9.3
Maximally Informative Interaction
Learning for Scene Exploration
Herke van Hoof, Oliver Kroemer, Heni Ben Amor and Jan Peters
FG Intelligent Autonomous Systems, TU Darmstadt, Germany
Max Planck Institute for Intelligent Systems, Germany
• In dynamic environments, robots
need to handle novel objects.
• As annotated data is absent robots
need to learn from the results of
their actions.
• Exploratory actions that maximize
information gain allow more efficient
learning.
• This method allows a robot to
efficiently learn with minimal prior
information.
17:15–17:20 WedFVT9.5
Towards Robotic Calligraphy
Nico Huebel, Elias Mueggler, Markus Waibel,
and Raffaello D’Andrea
Institute for Dynamic Systems and Control,
ETH Zurich, Switzerland
• We present a prototype of a robotic system that learns how to draw
Chinese characters.
• First, the context of the project is presented.
• Then, the experimental setup and the overall approach is introduced.
• Finally, experimental results are presented and discussed.
This is the experimental setup of our prototype consisting of the
KUKA Light Weight Robot, a Prosilica GC 655C camera, and a brush.
16:30–16:45 WedFVT9.2
Robots Move: Bootstrapping the Development of
Object Representations using Sensorimotor
Coordination
Arren Glover and Gordon Wyeth
Queensland University of Technology, Australia
• This paper is concerned with the
unsupervised generation of object
models by fusing appearance and
action
• A FAB-MAP-based approach is
combined with a partially
observable semi-Markov decision
process
• Results indicate stronger bag-ofword
object representations are
formed under sensorimotor
constraints
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–182–
Representations are matched via
self-motion prediction to become
object specific
17:00–17:15 WedFVT9.4
Perceptual Development Triggered
by its Self-Organization in Cognitive Learning
Yuji Kawai, Yukie Nagai, and Minoru Asada
Graduate School of Engineering, Osaka University, Japan
• Our goal: To investigate the role of
visual development triggered by selforganization
in the visual space in a
case of the mirror neuron system (MNS)
• Key idea: The self-triggered visual
development changes adaptively the
developmental speed.
• Result: The self-triggered development
maintains a long enough period of
immature vision which can inhibit selfother
differences in observation. Thus
the development enhances the
acquisition of the association between
self and other (i.e., the MNS).
(a) Early stage
of development
(b) Later stage
of development
17:20–17:25 WedFVT9.6
Learning Throwing and Catching Skills
Jens Kober, Katharina Muelling, and Jan Peters
AGBS, MPI for Intelligent Systems, Germany
IAS, TU Darmstdat, Germany
• Learning hitting skills by imitation and reinforcement
learning
• Generalizing hitting skills to catching skills
• Learning to throw at targets
• Combining throwing and catching skills to play catch
A BioRob and a Barrett WAM playing catch.