We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge about these objects is provided. The system must interpret the point clouds and decide how to use the tool to complete a manipulation task with a target object; this means it must adjust motion trajectories appropriately to complete the task. We tackle three everyday manipulations: scraping material from a tool into a container, cutting, and scooping from a container. Our solution encodes these manipulation skills in a generic way, with parameters that can be filled in at runtime via queries to a robot perception module; the perception module abstracts the functional parts of the tool and extracts key parameters that are needed for the task. The approach is evaluated in simulation and with selected examples on a PR2 robot.

In this paper we propose a novel reservation plan adaptation system based on machine learning. In the context of cloud auto-scaling, an important issue is the ability to define and use a resource reservation plan, which enables efficient resource scheduling. If necessary, the plan may allocate new resources upon reservation where a sufficient amount of resources is available. Our solution allows the updating of a reservation plan initially prepared by an administra

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Since the concept of merging the capabilities of mobile devices and cloud computing is becoming increasingly popular, an important question is how to optimally schedule services/tasks between the device and the cloud. The main objective of this article is to investigate the possibilities for using machine learning on mobile devices in order to manage the execution of services within the framework of Mobile Cloud Computing. In this study, an agent-based architecture with learning possibilities is proposed to solve this problem. Two learning strategies are considered: supervised and reinforcement learning. The solution proposed leverages, among other things, knowledge about mobile device resources, network connection possibilities and device power consumption, as a result of which a decision is made with regard to the place where the task in question is to be executed. By employing machine learning techniques, the agent working on a mobile device gains experience in determining the optimal place for the execution of a given type of task. The research conducted allowed for the verification of the solution proposed in the domain of multimedia file conversion and demonstrated its usefulness in reducing the time required for task execution. Using the experience The research presented in this paper was supported by the Polish Ministry of Science and Higher Education under AGH University of Science and Technology Grant 11.11.230.124. We thank Małgorzata Pła_ zek, Jakub Czy_ zewski and Michał Janiec for assistance with implementation and testing. Neither the entire paper nor any part of its content has been published or has been accepted for publication elsewhere. It has not been submitted to any other journal. gathered as a result of subsequent series of tests, the agent became more efficient in assigning the task of multimedia file conversion to either the mobile device or cloud computing resources.