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  Learning Visual Representations for Interactive Systems

Piater, J., Jodogne, S., Detry, R., Kraft, D., Krüger, N., Krömer, O., et al. (2011). Learning Visual Representations for Interactive Systems. In C. Pradalier, R. Siegwart, & G. Hirzinger (Eds.), Robotics Research: The 14th International Symposium ISRR (pp. 399-416). Berlin, Germany: Springer.

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 Creators:
Piater, J1, 2, Author              
Jodogne, S, Author
Detry, R, Author
Kraft, D, Author
Krüger, N, Author
Krömer, O.1, 2, Author              
Peters, J1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: We describe two quite different methods for associating action parameters to visual percepts. Our RLVC algorithm performs reinforcement learning directly on the visual input space. To make this very large space manageable, RLVC interleaves the reinforcement learner with a supervised classiamp;amp;64257;cation algorithm that seeks to split perceptual states so as to reduce perceptual aliasing. This results in an adaptive discretization of the perceptual space based on the presence or absence of visual features. Its extension RLJC also handles continuous action spaces. In contrast to the minimalistic visual representations produced by RLVC and RLJC, our second method learns structural object models for robust object detection and pose estimation by probabilistic inference. To these models, the method associates grasp experiences autonomously learned by trial and error. These experiences form a non-parametric representation of grasp success likelihoods over gripper poses, which we call a gra sp d ensi ty. Thus, object detection in a novel scene simultaneously produces suitable grasping options.

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 Dates: 2011-01
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1007/978-3-642-19457-3_24
BibTex Citekey: 6070
 Degree: -

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Title: 14th International Symposium on Robotics Research (ISRR 2009)
Place of Event: Luzern, Switzerland
Start-/End Date: 2009-08-31 - 2009-09-03

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Title: Robotics Research: The 14th International Symposium ISRR
Source Genre: Proceedings
 Creator(s):
Pradalier, C, Editor
Siegwart, R, Editor
Hirzinger, G, Editor
Affiliations:
-
Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 399 - 416 Identifier: ISBN: 978-3-642-19457-3

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Title: Springer Tracts in Advanced Robotics
Source Genre: Series
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Publ. Info: -
Pages: - Volume / Issue: 70 Sequence Number: - Start / End Page: - Identifier: -