In most activities of daily living, related tasks are encountered over and over again. This regularity allows humans and robots to reuse existing solutions for known recurring tasks. We expect that reusing a set of standard solutions to solve similar tasks will facilitate the design and on-line adaptation of the control systems of robots operating in human environments.
In this project, we derived a set of standard solutions for reaching behavior from human motion data. We also derived stereotypical reaching trajectories for variations of the task, in which obstacles are present. These stereotypical trajectories are then compactly represented with Dynamic Movement Primitives. We have evaluated the approach on two robots, and demonstrate that it leads to reproducible, predictable, and human-like reaching motions.
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Main Cooperation Partners: | Peter Pastor, Erhan Oztop, Michael Beetz, Stefan Schaal |
Institute: | Advanced Telecommunications Research Institute International Technische Universität München, University of Southern California |
Duration: | 2009-2010 |
Further Infos: | Related Publications, Movie |
Optimizing the Execution of Symbolic Robot Plans
The use of abstract symbolic actions enables
robots to employ small action libraries, which reduces the search space
for decision making. When executing the actions, however, the robot
must tailor the abstract actions to the specific task and situation
context at hand.
In this project we proposed a novel robot action execution system
that learns success and performance models for possible
specializations of abstract actions. At execution time, the robot uses
these models to optimize the execution of abstract actions
to the respective task contexts. The robot can so use abstract
actions for efficient reasoning, without compromising the
performance of action execution. We show the impact of our action
execution model in three robotic domains and on two kinds of
action execution problems: (1) the instantiation of free action
parameters to optimize the expected performance of action sequences;
(2) the automatic introduction of additional subgoals to make action
sequences more reliable.
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Main Cooperation Partners: | Michael Beetz (PhD. Supervisor) |
Institute: | Technische Universität München |
Duration: | 2003-2008 |
Further Infos: | Related Publications |
Implicit Coordination in Teams of Robots
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A striking aspect of human coordination is that we achieve it with little or no communication. We achieve this implicit coordination by taking the perspective of others, and inferring their intentions. In contrast, robots usually coordinate explicitly through the extensive communication of utilities or intentions.
In this project we developed a method that combines both approaches: implicit coordination with shared belief. In this approach, robots first communicate their beliefs about the world state to each other, using a CORBA based communication module. They then use learned utility prediction models to predict the utility of each robot locally. Based on these utilities, an action is chosen.
Within a heterogeneous soccer team, with robots from both the Munich and Ulm RoboCup mid-size teams, we applied implicit coordination with shared belief to a typical task from robotic soccer: regaining ball possession. An empirical evaluation demonstrates that the redundancy of implicit coordination with shared belief leads to robustness against communication failure and state estimation inaccuracy.
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Main Cooperation Partners: | Michael Isik, Hans Utz, Gerd Maier |
Institute: | Technische Universität München University of Ulm |
Duration: | 2003-2007 |
Further Infos: | Related Publications, Movie |
Learning Objective Functions for Face Model Fitting
Model-based fitting has proven to be a successful approach to interpreting the large amount of information contained in images. Fitting algorithms search for the global optimum of an objective function, which should correspond to the best model fit in a given image. Although fitting algorithms have been the subject of intensive research and evaluation, the objective function is usually designed ad hoc, based on implicit and domain-dependent knowledge. This often leads to functions with many local minima, and a global minimum that does not correspond to the best model fit.
We address the root of this problem by learning more robust objective functions. First, we formulate a set of desirable properties for objective functions, and give a concrete example of an ideal function that has these properties. Then, we propose a novel approach that learns an objective function from training data generated by this function and manually annotated images. In this approach, critical decisions such as the feature selection are automated, and the remaining manual steps hardly require domain-dependent knowledge. An extensive empirical evaluation demonstrates that learned objective functions enable fitting algorithms to determine the best model fit more accurately and efficiently than designed objective functions.
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Main Cooperation Partners: | Matthias Wimmer, Christoph Mayer, Bernd Radig |
Institute: | Technische Universität München |
Duration: | 2006-2008 |
Further Infos: | Related Publications |
Completion of Occluded Surfaces in Range Images
Analysis and reconstruction of
range images usually focuses on complex objects completely contained
in the field of view; little attention has been devoted so far to
the reconstruction of partially occluded simple-shaped wide areas
like parts of a wall
hidden behind furniture pieces in an indoor range image. The work in
this project is aimed at such reconstruction. First of all the range
image is partitioned and surfaces are fitted to these partitions. A
further step locates possibly occluded areas, while a final step
determines which areas are actually occluded. The reconstruction of
data occurs in this last step.
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Main Cooperation Partners: | Bob Fisher, José Santos-Victor |
Institute: | University of Edinburgh Instituto Superior Tecnico |
Duration: | 09.2000-12.2001 |
Funding: | EU TMR Network CAMERA |
Further Infos: | Related Publications |
Knowledge-based Analysis of the Transmission Control Protocol
Using a knowledge-based approach, we derive a protocol for the
sequence transmission problem, which provides a high-level model of
the Transmission Control Protocol, which is primarily used in Internet communication. The knowledge-based protocol is correct for
communication media where deletion and reordering errors may
occur. Furthermore, it is shown that both sender and receiver
eventually attain depth N knowledge about the values of the messages
for any N, but that common knowledge about the messages is not
attainable.
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Main Cooperation Partners: | Rineke Verbrugge |
Institute: | University of Groningen |
Duration: | 2000-2002 |
Further Infos: | Related Publications, Applet |
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