Main » Publications by Year
The majority of the publications can also be obtained by Google Scholar where incomplete lists of citations are also given.
| Record Number | 10299 |
| Reference Type | Conference Proceedings |
| Author(s) | Piater, J.; Jodogne, S.; Detry, R.; Kraft, D.; Krueger, N.; Kroemer, O.; Peters, J. |
| Year | 2009 |
| Title | Learning Visual Representations for Interactive Systems |
| Journal/Conference/Book Title | Proceedings of the International Symposium on Robotics Research (ISRR), Invited Paper |
| 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 classification 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 grasp density. Thus, object detection in a novel scene simultaneously produces suitable grasping options. |
| Notes | jan |