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An Empirical Evaluation of Various Information Gain Criteria for Active Tactile Action Selection for Pose Estimation [article]

Prajval Kumar Murali, Ravinder Dahiya, Mohsen Kaboli
2022 arXiv   pre-print
In this paper, we empirically evaluate various information gain criteria for action selection in the context of object pose estimation.  ...  We demonstrate the adaptability and effectiveness of our proposed TIQF pose estimation approach with various information gain criteria.  ...  CONCLUSION In this work, we empirically evaluated various information gain criteria for action selection in the context of object pose estimation in simulation.  ... 
arXiv:2205.04697v1 fatcat:yw2a44vwqnccbac5odefhdouma

Comparison of Information-Gain Criteria for Action Selection [article]

Prajval Kumar Murali, Mohsen Kaboli
2022 arXiv   pre-print
In this paper, we empirically evaluate various information gain criteria for action selection in the context of object pose estimation.  ...  We demonstrate the adaptability and effectiveness of our proposed TIQF pose estimation approach with various information gain criteria.  ...  Michael Gentner for assistance with the figures.  ... 
arXiv:2109.13540v2 fatcat:w4mktaziqjg7hevqmtddhzqqpm

Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace [article]

Prajval Kumar Murali, Michael Gentner, Mohsen Kaboli
2021 arXiv   pre-print
Furthermore, our proposed method is computationally efficient to perform an exhaustive uncertainty-based active touch selection strategy in real-time without the need for trading information gain with  ...  This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators.  ...  Anzuela for assistance in the experimental setup.  ... 
arXiv:2108.04015v1 fatcat:7vlpyhokzvbhdm6imsglefa25u

See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion

N. Fazeli, M. Oller, J. Wu, Z. Wu, J. B. Tenenbaum, A. Rodriguez
2019 Science Robotics  
We evaluated the performance of the approach against three standard baselines and show its fidelity on a real-world implementation of the game.  ...  Tactile stimuli are only acquired through invasive interaction, and interpretation of the data stream together with visual stimuli is challenging.  ...  Humans gain information by touching the blocks and combining tactile and visual senses to make inferences about their interactions.  ... 
doi:10.1126/scirobotics.aav3123 pmid:33137764 fatcat:plqt2aywrrbmfjxnrrbxvua6nq

Feature Sensing and Robotic Grasping of Objects with Uncertain Information: A Review

Chao Wang, Xuehe Zhang, Xizhe Zang, Yubin Liu, Guanwen Ding, Wenxin Yin, Jie Zhao
2020 Sensors  
In particular, we focus on how the robot perceives the features of an object, so as to reduce the uncertainty of objects, and how the robot completes object grasping through the learning-based approach  ...  As there come to be more applications of intelligent robots, their task object is becoming more varied. However, it is still a challenge for a robot to handle unfamiliar objects.  ...  Based on tactile sensors, a fast estimation criterion [117] is chosen for active contact selection, which not only considers the uncertainty of shape estimation but also takes the travel cost of contact  ... 
doi:10.3390/s20133707 pmid:32630755 pmcid:PMC7374444 fatcat:rcgkqwlgqrdv7h5mhovv5m5xdu

Sensorimotor Representation Learning for an "Active Self" in Robots: A Model Survey

Phuong D. H. Nguyen, Yasmin Kim Georgie, Ezgi Kayhan, Manfred Eppe, Verena Vanessa Hafner, Stefan Wermter
2021 Künstliche Intelligenz  
environment, rather than being provided a rigid set of rules for operations.  ...  body schema, peripersonal space, and the active self in humans.  ...  YKG and VVH were funded by the DFG -"Prerequisites for the Development of an Artificial Self" (402790442).  ... 
doi:10.1007/s13218-021-00703-z fatcat:rs5pdqct2ra7ljg2gl77nipime

Interactivity: A review of the concept and a framework for analysis

Oliver Quiring, Wolfgang Schweiger
2008 Communications  
Further, it restructures and extends existing findings on the basis of a new analysis framework which considers three levels of interactive communication (action level, level of subjective situation evaluation  ...  Finally, it delivers a systematic overview of specific criteria of interactive communication.  ...  Level Dimension Characteristics Action User Control • selection • modification Transfer • sensory activation (aural, tactilely, olfactory, gustatory, visual) System Control • selection options  ... 
doi:10.1515/commun.2008.009 fatcat:c6pqglfcbzbfzkdktd65njmhjq

Sensorimotor representation learning for an "active self" in robots: A model survey [article]

Phuong D.H. Nguyen, Yasmin Kim Georgie, Ezgi Kayhan, Manfred Eppe, Verena Vanessa Hafner, Stefan Wermter
2021 arXiv   pre-print
environment, rather than being provided a rigid set of rules for operations.  ...  body schema, peripersonal space, and the active self in humans.  ...  For the term "active self", we argue that the sensorimotor activities of an agent are a prerequisite for the emergence of the minimal self, in the sense that "the phenomenal, minimal self is empirically  ... 
arXiv:2011.12860v2 fatcat:mnxhuzkr7zdsdojmnuizmfoome

Review of Deep Reinforcement Learning-based Object Grasping: Techniques, Open Challenges and Recommendations

Marwan Qaid Mohammed, Kwek Lee Chung, Chua Shing Chyi
2020 IEEE Access  
Various studies are examined through a survey of existing literature and investigation of various aspects, namely, the intended applications, techniques applied, challenges faced by researchers and recommendations  ...  The results of this comprehensive review of deep reinforcement learning in the manipulation field may be valuable for researchers and practitioners because they can expedite the establishment of important  ...  They also formulated an RL policy as RHP to select a random action with a probability of policy queries RHP for an action.  ... 
doi:10.1109/access.2020.3027923 fatcat:44xyylmy7fhirjept76wm6uaeq

Embodied Making and Design Learning - Special Issue from the Learn X Design-conference DRS/CUMULUS, Chicago 2015

Marte Sørebø Gulliksen, Catharine Dishke Hondzel, Pirita Seitamaa-Hakkarainen, Tellervo Härkki
2016 FORMakademisk  
The symposium was developed by researchers from research groups in Norway, Finland and Canada to explore various aspects of embodied making in relation to design learning.  ...  This special issue was developed as an initiative by the symposium conveners.  ...  Acknowledgements Acknowledgement The research was funded by the Handling-Mind Project (Academy of Finland, projects 265922 & 266125). Acknowledgements  ... 
doi:10.7577/formakademisk.1739 fatcat:sewj4zn4vjhp3guu6fod5sn7ja

Explicating "Implicit Interaction"

Barış Serim, Giulio Jacucci
2019 Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems - CHI '19  
Leiva and the anonymous reviewers for their feedback on the draft versions of this paper.  ...  We would like to thank Oswald Barral for his help with the data analysis, the anonymous reviewers for their comments and to the participants of the study.  ...  Here, different responses can involve 1) immediate selection of an action, 2) deferring the system response until more information is gathered and 3) inaction. • Select action.  ... 
doi:10.1145/3290605.3300647 dblp:conf/chi/SerimJ19 fatcat:dkdtmg4eeba2lodkgb3mearnga

NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster [article]

Victor Lobato Rios, Gizem Pembe Ozdil, Shravan Tata Ramalingasetty, Jonathan Arreguit, Stephanie Clerc Rosset, Graham William Knott, Auke Ijspeert, Pavan Ramdya
2021 bioRxiv   pre-print
Using this computational framework, we (i) predict the minimal limb degrees-of-freedom needed for real Drosophila behaviors, (ii) estimate expected contact reaction forces, torques, and tactile signals  ...  Thus, NeuroMechFly is a powerful testbed for building an understanding of how behaviors emerge from interactions between complex neuromechanical systems and their physical surroundings.  ...  Sensitivity of estimated torques and GRFs to proportional gain values.  ... 
doi:10.1101/2021.04.17.440214 fatcat:dxqwx3q6mzgiphivriujfj6w5m

Informing sustainable business models with a consumer preference perspective

Viktorija Viciunaite, Frode Alfnes
2019 Journal of Cleaner Production  
For some consumer segments, information about business model elements such as resources, activities, and partners will add value to the products and services offered by the firm.  ...  We suggest that sustainability-oriented firms aiming to capture the value of their sustainability efforts, should leverage the information about consumer segments for sustainable business model elements  ...  We would like to thank the organizers of Oslo Strikkefestival and all those who filled out the survey. We would also like to thank three anonymous reviewers for their comments and feedback.  ... 
doi:10.1016/j.jclepro.2019.118417 fatcat:cdb5auj3jrej5m6fzpbbyuonce

Towards "Avatar-Friendly" 3D Manipulation Techniques: Bridging the Gap Between Sense of Embodiment and Interaction in Virtual Reality

Diane Dewez, Ludovic Hoyet, Anatole Lécuyer, Ferran Argelaguet Argelaguet Sanz
2021 Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems  
In this paper, we review and analyse the current state-of-the-art for 3D object manipulation and the sense of embodiment. Our analysis is twofold.  ...  Second, we discuss how the diferent components of a manipulation technique (i.e. input, control and feedback) can infuence the user's sense of embodiment.  ...  We would also like to thank Thomas Howard for his help with proofreading and corrections.  ... 
doi:10.1145/3411764.3445379 fatcat:vk23kxazg5e6xaaqwgfim3laze

Workshops of the Fifth International Brain-Computer Interface Meeting: Defining the Future

Jane E. Huggins, Christoph Guger, Brendan Allison, Charles W. Anderson, Aaron Batista, Anne-Marie Brouwer, Clemens Brunner, Ricardo Chavarriaga, Melanie Fried-Oken, Aysegul Gunduz, Disha Gupta, Andrea Kübler (+7 others)
2014 Brain-Computer Interfaces  
Topics included translation of BCIs into clinical use, standardization and certification, types of brain activity to use for BCI, recording methods, the effects of plasticity, special interest topics in  ...  Here we provide summaries of each workshop, illustrating the breadth and depth of BCI research and highlighting important issues for future research and development.  ...  Institute Of Biomedical Imaging And Bio-  ... 
doi:10.1080/2326263x.2013.876724 pmid:25485284 pmcid:PMC4255956 fatcat:3buutsooa5bdpnondg3lkss3sa
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