Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Learning to Disambiguate Object Hypotheses through Self-Exploration
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-0579-3372
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.
2014 (engelsk)Inngår i: 14th IEEE-RAS International Conference onHumanoid Robots, IEEE Computer Society, 2014Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present a probabilistic learning framework to form object hypotheses through interaction with the environment. A robot learns how to manipulate objects through pushing actions to identify how many objects are present in the scene. We use a segmentation system that initializes object hypotheses based on RGBD data and adopt a reinforcement approach to learn the relations between pushing actions and their effects on object segmentations. Trained models are used to generate actions that result in minimum number of pushes on object groups, until either object separation events are observed or it is ensured that there is only one object acted on. We provide baseline experiments that show that a policy based on reinforcement learning for action selection results in fewer pushes, than if pushing actions were selected randomly.

sted, utgiver, år, opplag, sider
IEEE Computer Society, 2014.
Emneord [en]
Anthropomorphic Robots, Reinforcement Learning, Action Selection, Object Groups, Object Segmentation, Object Separation, Policy-Based, Probabilistic Learning, Segmentation System
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-165630DOI: 10.1109/HUMANOIDS.2014.7041418Scopus ID: 2-s2.0-84945190036ISBN: 978-147997174-9 (tryckt)OAI: oai:DiVA.org:kth-165630DiVA, id: diva2:808725
Konferanse
14th IEEE-RAS International Conference on Humanoid Robots (Humanoids) November 18-20, 2014. Madrid, Spain
Merknad

QC 20150608

QC 20160203

Tilgjengelig fra: 2015-04-29 Laget: 2015-04-29 Sist oppdatert: 2018-01-11bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Forlagets fulltekstScopus

Personposter BETA

Björkman, Mårten

Søk i DiVA

Av forfatter/redaktør
Björkman, MårtenBekiroglu, Yasemin
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric

doi
isbn
urn-nbn
Totalt: 113 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf