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Independent learning of internal models for kinematic and dynamic control of reaching

John W. Krakauer, Maria-Felice Ghilardi, Claude Ghez
1999 Nature Neuroscience  
are learned from proprioceptive errors in an intrinsic coordinate system.  ...  If the two processes are distinct, Psychophysical studies of reaching movements suggest that hand kinematics are learned from errors in extent and direction in an extrinsic coordinate system, whereas dynamics  ...  ACKNOWLEDGEMENTS We thank Cathleen Song and Thomas Frontera for technical assistance with the experiments and the data analysis and Walton Comer and Hao Huang for computer software.  ... 
doi:10.1038/14826 pmid:10526344 fatcat:exgyjedlnvhb7jk6t3hcyswjsq

Concept Acquisition of Rotational Dynamics by Interactive Demonstration and Free-Body Diagram

Ogi Danika Pranata, Lia Yuliati, Dr. Wartono
2017 Journal of Education and Learning (EduLearn)  
This research was conducted to measure students' concept acquisition of the rotational dynamics through Interactive Demonstration assisted by Free-body diagram.  ...  However, students experience many difficulties in the concept of force in rotational dynamics.  ...  variable in Newton's law for rotational dynamics.  ... 
doi:10.11591/edulearn.v11i3.6410 fatcat:lo7o5tbmcfasjj5z24s66hupai

Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning [article]

Andrew S. Morgan, Daljeet Nandha, Georgia Chalvatzaki, Carlo D'Eramo, Aaron M. Dollar, Jan Peters
2021 arXiv   pre-print
This combination guarantees optimal skill learning up to an approximation error and reduces necessary physical interaction with the environment, making it suitable for real-robot training.  ...  rotation and finger gaiting--a task that requires grasping, manipulation, and then regrasping of an object.  ...  MBPO [14] uses branched rollouts in an actor-critic setting to exploit the learned dynamics for modelbased policy optimization.  ... 
arXiv:2103.13842v1 fatcat:br4dmemkuvb7rmv44ylxu3tbpm

Preliminary Evaluation of using Augmented Reality as a Dynamic Simulation Learning Tool for Linkage Mechanisms

Waleed FayizMaqableh, Manjit Singh Sidhu
2012 International Journal of Computer Applications  
In order to support various teacher-student interaction scenarios by improving the understanding/visualization process, we implement a dynamic simulation tool using augmented reality for the four-bar linkage  ...  learning the kinesthetic and dynamic subjects is well accepted with a very beneficial feedback.  ...  The Interactive simulation systems have been enhanced as an alternative teaching tool in engineering learning.  ... 
doi:10.5120/9270-3460 fatcat:s6b2erpm5zdudlzseedxk2fbu4

Roto-translated Local Coordinate Frames For Interacting Dynamical Systems [article]

Miltiadis Kofinas, Naveen Shankar Nagaraja, Efstratios Gavves
2021 arXiv   pre-print
Modelling interactions is critical in learning complex dynamical systems, namely systems of interacting objects with highly non-linear and time-dependent behaviour.  ...  Notwithstanding the arbitrary global coordinate system, the governing dynamics of the respective dynamical systems are invariant to rotations and translations, also known as Galilean invariance.  ...  Both approaches and the majority of learning algorithms for dynamical systems assume an arbitrary global coordinate system to encode time-transient interactions and model complex behaviours.  ... 
arXiv:2110.14961v1 fatcat:izbtjux7rba5pa6czztljrb7ea

Facilitating Understanding of Movements in Dynamic Visualizations: an Embodied Perspective

Björn B. de Koning, Huib K. Tabbers
2011 Educational Psychology Review  
Implications for the design of dynamic visualizations as well as directions for future research are presented.  ...  Learners studying mechanical or technical processes via dynamic visualizations often fail to build an accurate mental representation of the system's movements.  ...  In addition, using a bodily metaphor in an animation for representing the movements in the dynamic system provides an opportunity to improve learning.  ... 
doi:10.1007/s10648-011-9173-8 fatcat:pr7uykwae5ax3d4kfvfoqmmfmi

Structural Similarity and Spatiotemporal Noise Effects on Learning Dynamic Novel Objects

Quoc C Vuong, Michael J Tarr
2006 Perception  
We also found an effect of rotation reversal only on response times for`easy' objects when these were initially learned in the presence of dynamic noise.  ...  For`hard' objects, there was an effect for changing the studied motion at test and no interactions with learning context for both accuracy and response times.  ...  This article may be downloaded from the Perception website for personal research by members of subscribing organisations.  ... 
doi:10.1068/p5491 pmid:16700292 fatcat:dgccf2izyfgzhen6ylrl3oveae

Development of the Interactive Multimedia Software "Inquiry Play-Room" as an Electronic Learning Resource for Rotation and Equilibrium Topic

Verinda Shavira Sari, Endang Purwaningsih, Winarto Winarto, Nugroho Adi Pramono
2021 International Journal of Interactive Mobile Technologies  
This study reports the development of the interactive electronic multimedia "Inquiry Play-Room" for use in rotation and equilibrium topics.  ...  The teacher can also enhance the content quality and patterns of movement through classes and online learning, as this technology is designed for face-to-face use.  ...  of dynamic rotation and equilibrium.  ... 
doi:10.3991/ijim.v15i07.21561 fatcat:gnrwnabjhbbqjnb57dvvefyfo4

Lagrangian Neural Network with Differentiable Symmetries and Relational Inductive Bias [article]

Ravinder Bhattoo, Sayan Ranu, N. M. Anoop Krishnan
2021 arXiv   pre-print
Recent works on Lagrangian and Hamiltonian neural networks show that the underlying symmetries of a system can be easily learned by a neural network when provided with an appropriate inductive bias.  ...  Here, we present a momentum conserving Lagrangian neural network (MCLNN) that learns the Lagrangian of a system, while also preserving the translational and rotational symmetries.  ...  Specifically, we aim to learn the dynamics of multi-particle interacting systems purely from the trajectory of the constituent particles.  ... 
arXiv:2110.03266v2 fatcat:w3iuvdjworhxfhqton6wc4lx7m

Correcting pose estimates during tactile exploration of object shape: a neuro-robotic study

Claudius Strub, Florentin Worgotter, Helge Ritter, Yulia Sandamirskaya
2014 4th International Conference on Development and Learning and on Epigenetic Robotics  
We have implemented an architecture for haptic exploration of an object's shape on a physical robotic hand in a simple exemplary scenario, in which the geometrical models of two different n-gons are learned  ...  In this paper we introduce a neural-dynamic model which allows to build an object shape representation based on haptic exploration.  ...  ACKNOWLEDGMENT The authors gratefully acknowledge the financial support of the German Japan Collaborative Research Program on Computational Neuroscience (WO 388/11-1) and the DFG SPP Autonomous Learning  ... 
doi:10.1109/devlrn.2014.6982950 dblp:conf/icdl-epirob/StrubWRS14 fatcat:t4rdgpcv4vdrfjjzbewxmm5jqm

Multi Layered Multi Task Marker Based Interaction in Information Rich Virtual Environments

I. Rehman, S. Ullah, Dawar Khan
2020 International Journal of Interactive Multimedia and Artificial Intelligence  
We found the proposed marker with improved learning, easiness in interaction, and comparatively less task execution time. The results gave improved learning for layered VE as compared to simple VE.  ...  The proposed marker like an interaction peripheral works just like a touch paid which can perform any type of interaction in a 3D VE.  ...  For example, a single marker may perform the rotation of an object or display the name of an object, etc.  ... 
doi:10.9781/ijimai.2020.11.002 fatcat:ra6ts3xkjzfxfntceiwyfj77qi

Human Adaptation to Interaction Forces in Visuo-Motor Coordination

F.C. Huang, R.B. Gillespie, A.D. Kuo
2006 IEEE transactions on neural systems and rehabilitation engineering  
But an alternative would be to learn feedback compensation for the extrinsic dynamics and associated interaction forces, with the potential for lower control effort.  ...  We tested whether humans can learn to sense and compensate for interaction forces in contact tasks.  ...  We tested for learning of interaction forces with a skill transfer experiment, where subjects learned to control the ball in a virtual environment, with sensory feedback as an independent variable.  ... 
doi:10.1109/tnsre.2006.881533 pmid:17009499 fatcat:niwmxex2qzc3jnp4tja24iqowq

Computer visualizations: Factors that influence spatial anatomy comprehension

Ngan Nguyen, Andrew J. Nelson, Timothy D. Wilson
2012 Anatomical Sciences Education  
Three major factors were considered: (1) visualization ability (VZ) of learners, (2) dynamism of the visual display, and (3) interactivity of the system.  ...  Participants (N 5 60) of differing VZs (high, low) studied a group of anatomical structures in one of three visual conditions (control, static, dynamic) and one of two interactive conditions (interactive  ...  ., from the Department of Psychology, University of Guelph, Guelph, Ontario, Canada for providing the mental rotations task, Robert C.  ... 
doi:10.1002/ase.1258 pmid:22232125 fatcat:bdsnhach7ndjjfjq4skcowsbhm

Human-Robot Collaboration via Deep Reinforcement Learning of Real-World Interactions [article]

Jonas Tjomsland, Ali Shafti, A. Aldo Faisal
2019 arXiv   pre-print
We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning.  ...  This enables us to study Human-Robot and Human-Human collaborative learning through real-world interactions.  ...  Reinforcement learning system We implement the Soft Actor-Critic algorithm [14] (SAC) 1 , an off-policy maximum entropy method.  ... 
arXiv:1912.01715v1 fatcat:frotcu6f3vccrbapqmndd6dpee

Kinematics and Dynamics Are Not Represented Independently in Motor Working Memory: Evidence from an Interference Study

Christine Tong, Daniel M. Wolpert, J. Randall Flanagan
2002 Journal of Neuroscience  
In contrast, such interference is not observed between learning a positiondependent visuomotor rotation and an acceleration-dependent force field.  ...  They showed that learning a visuomotor rotation is not affected by adaptation to an inertial load presented either simultaneously or 5 min later.  ...  working-memory systems underlie kinematic and dynamic learning (Krakauer et al., 1999) .  ... 
doi:10.1523/jneurosci.22-03-01108.2002 pmid:11826139 fatcat:o47by3vagza6pmeogkwn667cqi
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