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Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances [article]

Aidan Curtis, Xiaolin Fang, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Caelan Reed Garrett
2021 arXiv   pre-print
We explore several different ways of implementing such perceptual modules for segmentation, property detection, shape estimation, and grasp generation.  ...  that estimate properties and affordances of unknown objects.  ...  Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of our sponsors.  ... 
arXiv:2108.04145v2 fatcat:fim2vjeajbhqjb4gneb55kg5la

Estimation of the Horizon in Photographed Outdoor Scenes by Human and Machine

Christian Herdtweck, Christian Wallraven, Markus Lappe
2013 PLoS ONE  
In Experiment 3 we investigate several strategies to estimate the horizon in the computer and compare human with machine "behavior" for different image manipulations and image scene types.  ...  We present three experiments on horizon estimation. In Experiment 1 we verify the human ability to estimate the horizon in static images from only visual input.  ...  Conceived and designed the experiments: CH CW. Performed the experiments: CH CW. Analyzed the data: CH CW. Contributed reagents/materials/analysis tools: CH CW. Wrote the paper: CH CW.  ... 
doi:10.1371/journal.pone.0081462 pmid:24349073 pmcid:PMC3861256 fatcat:5g7m5lhnrnglfil5teiymznlyu

Sizing the horizon

Jeffrey Heer, Nicholas Kong, Maneesh Agrawala
2009 Proceedings of the 27th international conference on Human factors in computing systems - CHI 09  
We compare line charts with horizon graphs -a space-efficient time series visualization technique -across a range of chart sizes, measuring the speed and accuracy of subjects' estimates of value differences  ...  We identify transition points at which reducing the chart height results in significantly differing drops in estimation accuracy across the compared chart types, and we find optimal positions in the speed-accuracy  ...  ACKNOWLEDGMENTS We thank our subjects for their participation and the X-Lab (http://xlab.berkeley.edu) for recruiting assistance.  ... 
doi:10.1145/1518701.1518897 dblp:conf/chi/HeerKA09 fatcat:5oqzyq6lovea7fgbbu2gdje4ky

The planning horizon for movement sequences

Giacomo Ariani, Neda Kordjazi, J. Andrew Pruszynski, Jörn Diedrichsen
2021 eNeuro  
Here we designed an experiment in which healthy volunteers produced sequences of 14 finger presses quickly and accurately on a keyboard in response to numerical stimuli.  ...  Over the course of practice, we found larger performance improvements for larger viewing windows and an expansion of the planning horizon.  ...  Finally, 236 we computed the estimated eye position at the time of each keypress by subtracting the position 237 corresponding to the keypress (1 to 14) from D t and plotted this estimate against each  ... 
doi:10.1523/eneuro.0085-21.2021 pmid:33753410 pmcid:PMC8174040 fatcat:a456fenpubcojnryftnjugwrxq

Seeing and thinking: Foundational issues and empirical horizons

Chaz Firestone, Brian J. Scholl
2016 Behavioral and Brain Sciences  
The spectacularly varied responses to our target article raised big-picture questions about the nature of seeing and thinking, nitty-gritty experimental design details, and everything in between.  ...  , the free press, an El Greco fallacy fallacy, hallucinogenic drugs, blue bananas, subatomic particles, Boeing 787s, and the racial identities of geometric shapes.  ...  Either way, we wonder whether this effect is truly perceptual, and we are willing to "pre-register" an experiment in this response.  ... 
doi:10.1017/s0140525x16000029 pmid:28355868 fatcat:n3i7gqxsx5gqxfgnbydzeh3fae

Neural networks expand SP's horizons

S. Haykin
1996 IEEE Signal Processing Magazine  
Gaussianity, for the derivation of parameter estimators.  ...  of the estimators as the number of samples approaches infinity.  ...  For the new approach, the overall mean-squared error was reduced and the perceptual image quality was improvedl, when compared to the KLT.  ... 
doi:10.1109/79.487040 fatcat:ujmpsiax5jdnnnrjo3i6hijxam

Successor Feature Landmarks for Long-Horizon Goal-Conditioned Reinforcement Learning [article]

Christopher Hoang, Sungryull Sohn, Jongwook Choi, Wilka Carvalho, Honglak Lee
2021 arXiv   pre-print
We show in our experiments on MiniGrid and ViZDoom that SFL enables efficient exploration of large, high-dimensional state spaces and outperforms state-of-the-art baselines on long-horizon GCRL tasks.  ...  SFL leverages the ability of successor features (SF) to capture transition dynamics, using it to drive exploration by estimating state-novelty and to enable high-level planning by abstracting the state-space  ...  We thank Yunseok Jang and Anthony Liu for their valuable feedback. We also thank Scott Emmons and Ajay Jain for sharing and helping with the code for the SGM [16] baseline.  ... 
arXiv:2111.09858v1 fatcat:opnzhm5bl5h6dc7utpfcoo7dku

Background surface and horizon effects in the perception of relative size and distance

Kerem Ozkan, Myron L. Braunstein
2010 Visual Cognition  
and distance judgments for objects above the horizon.  ...  In four experiments, observers judged relative size or relative distance for pairs of objects varying in height with respect to the horizon.  ...  In the present study, we used the point at which relative size judgments reversed to estimate the location of the perceptual horizon.  ... 
doi:10.1080/13506280802674101 pmid:20814449 pmcid:PMC2929966 fatcat:jkieo6vzrvdv3jwlwfhq4a2llq

Big Archaeology: Horizons and Blindspots

Parker VanValkenburgh, J. Andrew Dufton
2020 Journal of Field Archaeology  
and in formerly inaccessible landscapes.  ...  Big data have arrived in archaeology, in the form of both large-scale datasets themselves and in the analytics and approaches of data science.  ...  We also thank Nichole Sheldrick, Rachel Opitz, Carl Demuth and Joshua Wells, who  ... 
doi:10.1080/00934690.2020.1714307 fatcat:7p7wji5tw5fatm3lwrrb6flr4e

Distance Perception and the Visual Horizon in Head-Mounted Displays

Ross Messing, Frank H. Durgin
2005 ACM Transactions on Applied Perception  
greater than one) both in verbal and in motor estimates.  ...  This is illustrated in a second experiment, in which the visual horizon was artificially manipulated in a simulated outdoor field presented in immersive VR.  ...  ACKNOWLEDGMENTS The authors would like to thank Joy Mills for helping run Experiment 1.  ... 
doi:10.1145/1077399.1077403 fatcat:dphrrmpqrfbubllzu6axkbkyh4

GroundNet: Monocular Ground Plane Normal Estimation with Geometric Consistency [article]

Yunze Man, Xinshuo Weng, Xi Li, Kris Kitani
2019 arXiv   pre-print
Our method achieves the top-ranked performance on ground plane normal estimation and horizon line detection on the real-world outdoor datasets of ApolloScape and KITTI, improving the performance of previous  ...  Specifically, our proposed model, GroundNet, first estimates the depth and surface normal in two separate streams, from which two ground plane normals are then computed deterministically.  ...  We thus compare our method with three state-of-the-art horizon line estimation methods: Zhai et al. [53] , DeepHorizon [49] and Perceptual Method [19] .  ... 
arXiv:1811.07222v4 fatcat:hq4jqfoqbzgyvpxhhcpa7dxcmu

Decision Time Horizon For Music Genre Classification Using Short Time Features

Peter Ahrendt, Anders Meng, Jan Larsen
2004 Zenodo  
Acknowledgment The work is supported by the European Commission through the sixth framework IST Network of Excellence: Pattern Analysis, Statistical Modelling and Computational Learning (PASCAL), contract  ...  [22] suggested a scheme for audio retrieval and classification. Perceptually inspired features such as pitch, loudness, brightness and timbre were used to describe the audio.  ...  Information fusion showed increasing performance with time horizon, thus state-of-art 80% correct classification rate is obtained within 5 s decision time horizon.  ... 
doi:10.5281/zenodo.38612 fatcat:yjzltu4e4jbk7o7qsdjcuii75q

Receding Horizon Model-Predictive Control for Mobile Robot Navigation of Intricate Paths [chapter]

Thomas M. Howard, Colin J. Green, Alonzo Kelly
2010 Springer Tracts in Advanced Robotics  
The contribution, a receding horizon model-predictive control (RHMPC) technique, specifically addresses the problem of path following and obstacle avoidance through geometric singularities and discontinuities  ...  such as cusps, turn-in-place, and multi-point turn maneuvers in environments where terrain shape and vehicle mobility effects are non-negligible.  ...  The views and conclusions contained in this paper are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the U.S. Government.  ... 
doi:10.1007/978-3-642-13408-1_7 fatcat:hfzz5epe25gbpbqazbwyen4gju

Visually Induced Motion Sickness on the Horizon

Wanja Hemmerich, Behrang Keshavarz, Heiko Hecht
2020 Frontiers in Virtual Reality  
Eye-movements, task performance, and motion sickness were recorded.  ...  Results show that only the earth-fixed horizon was able to significantly reduce visually induced motion sickness.  ...  Participants had to perform a TTC-estimation task in a virtual starfield that did not provide any orientation cues except for the experimental references (earth-fixed fixation cross, earth-fixed horizon  ... 
doi:10.3389/frvir.2020.582095 fatcat:ugfldv33rbgw3a6vqawj3gh2tm

A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects [article]

Anthony Simeonov, Yilun Du, Beomjoon Kim, Francois R. Hogan, Joshua Tenenbaum, Pulkit Agrawal, Alberto Rodriguez
2020 arXiv   pre-print
We experimentally validate these choices using simulated and real-world experiments on the YuMi robot.  ...  We present a framework for solving long-horizon planning problems involving manipulation of rigid objects that operates directly from a point-cloud observation, i.e. without prior object models.  ...  Acknowledgments This work was supported in part by the DARPA Machine Common Sense Grant and the Amazon Research Awards. Anthony and Yilun are supported in part by NSF Graduate Research Fellowships.  ... 
arXiv:2011.08177v1 fatcat:4c6bjdnegjczbftae7rpoj7oqi
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