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Data analysis in integration of perception and action
Published on Nov 04, 20132521 Views
A robot system needs to autonomously acquire new knowledge through interaction with the environment. The knowledge can be acquired only if suitable perception-action capabilities are present: a robot
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Chapter list
Interacting with Objects00:00
One of the platforms02:02
Image of objects03:35
Grasping in realistic scenes04:44
Tasks06:54
Problems we work on12:22
Low resolution image - 113:40
Low resolution image - 214:05
Low resolution image - 314:13
Low resolution image - 414:31
Low resolution image - 514:40
Most tasks require reliable visual sensing16:20
What to represent?19:50
You see what you look for!21:26
The Evolution of Object Categorization25:16
Fully data-driven approach27:35
Topics28:04
Example of robots had - 128:54
Eye Movements and Vision31:27
Saliency model of Itti & Koch33:17
From parts to wholes34:36
Visual Attention36:21
Eye fixations during grasping37:09
Grasping Reflex and Second Order Relations43:50
Grasping point detection44:22
Generale scene understanding44:34
Example of robots had - 246:34
Modeling - 146:43
Modeling - 248:21
Approximate Expectation-Maximization48:52
Segmenting tiger49:25
What is a good grasp? - 150:44
Approach52:02
Robot, bring me something to drink (from)!52:34
Task-oriented grasping53:10
Robot, bring me something to drink54:20
Grasp hypotheses maps for scenes - 157:43
Grasp hypotheses maps for scenes - 257:48
Challenges58:33
A stable grasp01:00:26
Assessing grasp stability01:02:37
Data acquisition01:04:45
Task based grasp adaptation01:06:54
Learning network structure01:08:01
Inference01:08:45
Task based grasp adaptation01:09:01
What is a good grasp? - 201:10:32
The robot learns from a teacher - 101:10:45
The robot learns from a teacher - 201:11:14
Store the bottle in the fridge01:11:17
Clustering problem - 101:11:25
Clustering problem - 201:12:01
Clustering problem - 301:12:14
Clustering problem - 401:13:10
What is a good grasp? - 301:13:29
Motivation01:13:30
Understanding human grasping01:17:20
System Overview01:17:44
Why is this important? - 101:17:59
Why is this important? - 201:19:06
Results01:19:29
Examples01:20:08
What about grasping …. Really? - 101:20:38
What about grasping …. Really? - 201:21:08
Constrained interaction under uncertainties01:21:11
Integrating perception and control01:23:46
System description01:23:49
Open sesame01:24:03
DAM – Dual Arm Manipulation01:24:08
Further work on object properties01:26:27
Assessment via GP Regression01:26:51
Conclusions01:26:54
Thanx to01:26:58