2013 IEEE/RSJ International Conference on Intelligent Robots and Systems 2013
DOI: 10.1109/iros.2013.6697038
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Active Bayesian perception and reinforcement learning

Abstract: Abstract-In a series of papers, we have formalized an active Bayesian perception approach for robotics based on recent progress in understanding animal perception. However, an issue for applied robot perception is how to tune this method to a task, using: (i) a belief threshold that adjusts the speed-accuracy tradeoff; and (ii) an active control strategy that moves the sensor during perception. Here we propose that this tuning should be learnt by reinforcement from a reward signal evaluating the decision outco… Show more

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Cited by 3 publications
(5 citation statements)
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“…1b) is mounted as an end effector on a two degree-of-freedom Cartesian robot (2axis PXYx, Yamaha Robotics). This combination of tactile sensor with Cartesian robot has been employed previously for testing various sensors, including tactile vibrissae [46], [47] and tactile fingertips [10], [29], [48], [49]. The Cartesian robot is able to precisely and repeatedly position the sensor in two dimensions (absolute repeatability 0.02 mm) with simple control, making it a good platform to probe tactile sensing in basic one-dimensional scenarios with contacts controlled in the other dimension.…”
Section: Capacitive Tactile Fingertip (Icub Fingertip)mentioning
confidence: 99%
“…1b) is mounted as an end effector on a two degree-of-freedom Cartesian robot (2axis PXYx, Yamaha Robotics). This combination of tactile sensor with Cartesian robot has been employed previously for testing various sensors, including tactile vibrissae [46], [47] and tactile fingertips [10], [29], [48], [49]. The Cartesian robot is able to precisely and repeatedly position the sensor in two dimensions (absolute repeatability 0.02 mm) with simple control, making it a good platform to probe tactile sensing in basic one-dimensional scenarios with contacts controlled in the other dimension.…”
Section: Capacitive Tactile Fingertip (Icub Fingertip)mentioning
confidence: 99%
“…This combination of tactile sensor with a Cartesian robot has been employed previously for testing various tactile sensors, including tactile vibrissae [24], [25] and tactile fingertips [11]- [14], [26]. The Cartesian robot has the benefit that it can precisely and repeatedly position the sensor in two dimensions (absolute repeatability 0.02 mm).…”
Section: A Tactile Robots and Experimentsmentioning
confidence: 99%
“…This Bayesian perception approach has been applied successfully to robot tactile perception [11]- [14], [26], [31], [32]. The method implements a recursive Bayesian update of the posterior beliefs for each distinct perceptual class (the statistical hypotheses) until reaching a predefined decision threshold.…”
Section: B Bayesian Perception For Roboticsmentioning
confidence: 99%
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