State space models of remote manipulation tasks
نویسندگان
چکیده
منابع مشابه
State Space Models of Remote Manipulation Tasks
A state variable formulation of the remote manipulation problem is presented, applicable to human supervised or autonomous computer-manipula-tors. A discrete state vector, containing position variables for the manipulator and relevant objects, spans a quantized state space comprising many static configurations of objects and hand. A manipulation task is a desired new state. State transitions ar...
متن کاملContinuous State POMDPs for Object Manipulation Tasks
My research focus is on using continuous state partially observable Markov decision processes (POMDPs) to perform object manipulation tasks using a robotic arm. During object manipulation, object dynamics can be extremely complex, non-linear and challenging to specify. To avoid modeling the full complexity of possible dynamics, I instead use a model which switches between a discrete number of s...
متن کاملSwitching State-Space Models
We introduce a statistical model for times series data with nonlinear dynamics which iteratively segments the data into regimes with approximately linear dynamics and learns the parameters of each of those regimes. This model combines and generalizes two of the most widely used stochastic time series models|the hidden Markov model and the linear dynamical system|and is related to models that ar...
متن کاملDiscriminative State Space Models
We introduce and analyze Discriminative State-Space Models for forecasting nonstationary time series. We provide data-dependent generalization guarantees for learning these models based on the recently introduced notion of discrepancy. We provide an in-depth analysis of the complexity of such models. We also study the generalization guarantees for several structural risk minimization approaches...
متن کاملGeneralizing Demonstrated Manipulation Tasks
Captured human motion data can provide a rich source of examples of successful manipulation strategies. General techniques for adapting these examples for use in robotics are not yet available, however, in part because the problem to be solved by the robot will rarely be the same as that in the human demonstration. This paper considers the problem of adapting a human demonstration of a quasista...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 1969
ISSN: 0018-9286
DOI: 10.1109/tac.1969.1099295