Estimating accurate forward and inverse dynamics models is a crucial component of model-based control for sophisticated robots such as robots driven by hydraulics, artificial muscles, or robots dealing with different contact situations. Analytic models to such processes are often unavailable or inaccurate due to complex hysteresis effects, unmodelled friction and stiction phenomena, and unknown effects during contact situations. A promising approach is to obtain spatio-temporal models in a data-driven way using recurrent neural networks, as they can overcome those issues. However, such models often do not meet accuracy demands sufficiently, degenerate in performance for the required high sampling frequencies and cannot provide uncertainty estimates. We adopt a recent probabilistic recurrent neural network architecture, called Recurrent Kalman Networks (RKNs), to model learning by conditioning its transition dynamics on the control actions. RKNs outperform standard recurrent networks such as LSTMs on many state estimation tasks. Inspired by Kalman filters, the RKN provides an elegant way to achieve action conditioning within its recurrent cell by leveraging additive interactions between the current latent state and the action variables. We present two architectures, one for forward model learning and one for inverse model learning. Both architectures significantly outperform existing model learning frameworks as well as analytical models in terms of prediction performance on a variety of real robot dynamics models.

Intelligent Models for predicting diseases whether building a model to help the doctor or even preventing its spread in an area globally, is increasing day by day. Here we present a noble approach to predict the disease prone area using the power of Text Analysis and Machine Learning. Epidemic Search model using the power of the social network data analysis and then using this data to provide a probability score of the spread and to analyse the areas whether going to suffer from any epidemic spread-out, is the main focus of this work. We have tried to analyse and showcase how the model with different kinds of pre-processing and algorithms predict the output. We have used the combination of words-n grams, word embeddings and TF-IDF with different data mining and deep learning algorithms like SVM, Naïve Bayes and RNN-LSTM. Naïve Bayes with TF-IDF performed better in comparison to others.

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It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects that remain challenging to capture, e.g., stick-slip friction and mechanical flexibilities. Such effects exhibit hysteresis and partial observability, rendering them, particularly challenging to model. Hence, hybrid models, which combine a physical prior with data-driven approaches are especially well-suited in this setting. We present a novel hybrid model formulation that enables us to identify fully physically consistent inertial parameters of a rigid body dynamics model which is paired with a recurrent neural network architecture, allowing us to capture unmodeled partially observable effects using the network memory. We compare our approach against state-of-the-art inverse dynamics models on a 7 degree of freedom manipulator. Using data sets obtained through an optimal experiment design approach, we study the accuracy of offline torque prediction and generalization capabilities of joint learning methods. In control experiments on the real system, we evaluate the model as a feed-forward term for impedance control and show the feedback gains can be drastically reduced to achieve a given tracking accuracy.