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Task Modeling in Imitation Learning using Latent Variable Models
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2010 (English)In: 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010, 2010, 458-553 p.Conference paper, Published paper (Refereed)
Abstract [en]

An important challenge in robotic research is learning and reasoning about different manipulation tasks from scene observations. In this paper we present a probabilistic model capable of modeling several different types of input sources within the same model. Our model is capable to infer the task using only partial observations. Further, our framework allows the robot, given partial knowledge of the scene, to reason about what information streams to acquire in order to disambiguate the state-space the most. We present results for task classification within and also reason about different features discriminative power for different classes of tasks.

Place, publisher, year, edition, pages
2010. 458-553 p.
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-50658DOI: 10.1109/ICHR.2010.5686348Scopus ID: 2-s2.0-79851477094OAI: oai:DiVA.org:kth-50658DiVA: diva2:462371
Conference
2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010. Nashville, TN. 6 December 2010 - 8 December 2010
Note
QC 20111208Available from: 2011-12-07 Created: 2011-12-07 Last updated: 2011-12-08Bibliographically approved

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Kragic, Danica

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Ek, Carl HenrikSong, DanHuebner, KaiKragic, Danica
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