Name
Abstract | ||
|---|---|---|
AbstractSmall-variance asymptotics is emerging as a useful technique for inference in large-scale Bayesian non-parametric mixture models. This paper analyzes the online learning of robot manipulation tasks with Bayesian non-parametric mixture models under small-variance asymptotics. The analysis yields a scalable online sequence clustering SOSC algorithm that is non-parametric in the number of clusters and the subspace dimension of each cluster. SOSC groups the new datapoint in low-dimensional subspaces by online inference in a non-parametric mixture of probabilistic principal component analyzers MPPCA based on a Dirichlet process, and captures the state transition and state duration information online in a hidden semi-Markov model HSMM based on a hierarchical Dirichlet process. A task-parameterized formulation of our approach autonomously adapts the model to changing environmental situations during manipulation. We apply the algorithm in a teleoperation setting to recognize the intention of the operator and remotely adjust the movement of the robot using the learned model. The generative model is used to synthesize both time-independent and time-dependent behaviors by relying on the principles of shared and autonomous control. Experiments with the Baxter robot yield parsimonious clusters that adapt online with new demonstrations and assist the operator in performing remote manipulation tasks. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1177/0278364918816374 | Periodicals |
Keywords | Field | DocType |
Learning and adaptive systems, Bayesian non-parametrics, online learning, hidden semi-Markov model, subspace clustering, teleoperation | Robot learning,Hierarchical Dirichlet process,Dirichlet process,Computer science,Inference,Artificial intelligence,Probabilistic logic,Machine learning,Mixture model,Bayesian probability,Hidden semi-Markov model | Journal |
Volume | Issue | ISSN |
38 | 1 | 0278-3649 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ajay Kumar Tanwani | 1 | 66 | 9.07 |
| Sylvain Calinon | 2 | 1897 | 117.63 |