Robots Understanding Their Actions by Imagining Their Effects

Rezultaty

This deliverable will contain an analysis of the main elements of the data management policy used by the applicants with regard to all data sets generated by the project This will include a data set reference name description standards metadata and management principles such as sharing archiving and preservation

Continuation plan

This deliverable will be a report that summarizes all relevant national and international funding opportunities which would allow us to continue the IMAGINE concept into higher TRL levels after the end of this project It will also address possible involvement from enduser here taking care especially about the business requirements of ECYC

Business Analysis and IPR management report

This deliverable will report on the different possible opportunities for bringing the IMAGINE softwarehardware system and its subcomponents closer to the market It will also address all planned and performed IPR activities of our project

Report on benchmarking results

Report on the evolution of the benchmarking results for the defined benchmarks

Report on benchmark definitions

Definition of benchmarks for performance evaluation on component and system level on disassembly scenarios from the recycling domain

Project website live

This deliverable is the project website comprising the main dissemination and exploitation channels for promoting and communicating the project relevant activities and achievements A fully functional and user friendly website will be designed and serve as a major dissemination tool It will also have a part acting as an active blog of research where partners can put articles about intermediate results events etc The website will adhere to the general communication strategy Periodically updates of the website according to users evaluation session planned in dissemination will be carried out

Publikacje

Parametrik Dinamik Motor Primitifleri

Autorzy: Girgin, Hakan; Ugur, Emre
Opublikowane w: Turkish Robotics Journal, Numer 3, 2018
Wydawca: Bogazici University
DOI: 10.5281/zenodo.4726690

How does explicit exploration influence Deep Reinforcement Learning?

Autorzy: Jakob Hollenstein, Erwan Renaudo, Matteo Saveriano, Justus Piater
Opublikowane w: Proceedings of the Joint Austrian Computer Vision and Robotics Workshop 2020, 2020, Strona(/y) 29-30, ISBN 978-3-85125-752-6
Wydawca: TUGraz OPEN Library
DOI: 10.3217/978-3-85125-752-6

Belief Regulated Dual Propagation Nets for Learning Action Effects on Groups of Articulated Objects

Autorzy: Ahmet E. Tekden, Aykut Erdem, Erkut Erdem, Mert Imre, M. Yunus Seker, Emre Ugur
Opublikowane w: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Strona(/y) 10556-10562, ISBN 978-1-7281-7395-5
Wydawca: IEEE
DOI: 10.1109/icra40945.2020.9196878

Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features

Autorzy: de la Cruz, Pilar; Piater, Justus; Saveriano, Matteo
Opublikowane w: IEEE International Conference on Systems, Man, and Cybernetics, 2020
Wydawca: IEEE

Leveraging Multiple Environments for Learning and Decision Making: a Dismantling Use Case

Autorzy: Alejandro Suarez-Hernandez, Thierry Gaugry, Javier Segovia-Aguas, Antonin Bernardin, Carme Torras, Maud Marchal, Guillem Alenya
Opublikowane w: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Strona(/y) 6902-6908, ISBN 978-1-7281-6212-6
Wydawca: IEEE
DOI: 10.1109/iros45743.2020.9341182

ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharing

Autorzy: Akbulut, M. Tuluhan; Oztop, Erhan; Seker, M. Yunus; Xue, Honghu; Tekden, Ahmet E.; Ugur, Emre
Opublikowane w: Conference on Robot Learning (CoRL), Numer 11, 2020
Wydawca: JMLR Workshop & Conference Proceedings series

DCNN-Based Screw Detection for Automated Disassembly Processes

Autorzy: Erenus Yildiz, Florentin Worgotter
Opublikowane w: 2019 15th International Conference on Signal-Image Technology & Internet-Based Systems (SITIS), 2019, Strona(/y) 187-192, ISBN 978-1-7281-5686-6
Wydawca: IEEE
DOI: 10.1109/sitis.2019.00040

A Visual Intelligence Scheme for Hard Drive Disassembly in Automated Recycling Routines

Autorzy: Erenus Yildiz, Tobias Brinker, Erwan Renaudo, Jakob Hollenstein, Simon Haller-Seeber, Justus Piater, Florentin Wörgötter
Opublikowane w: Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems, 2020, Strona(/y) 17-27, ISBN 978-989-758-479-4
Wydawca: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0010016000170027

Active Deformation through Visual Servoing of Soft Objects

Autorzy: Romain Lagneau, Alexandre Krupa, Maud Marchal
Opublikowane w: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Strona(/y) 8978-8984, ISBN 978-1-7281-7395-5
Wydawca: IEEE
DOI: 10.1109/icra40945.2020.9197506

Conditional Neural Movement Primitives

Autorzy: Muhammet Yunus Seker, Mert Imre, Justus Piater, Emre Ugur
Opublikowane w: Robotics: Science and Systems XV, 2019, ISBN 978-0-9923747-5-4
Wydawca: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2019.xv.071

The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks

Autorzy: Klas, C., Hundhausen, F., Gao, J., Dreher, C. R. G., Reither, S., Zhou, Y. and Asfour, T.
Opublikowane w: IEEE International Conference on Robotics and Automation (ICRA), May, 2021, 2021
Wydawca: IEEE

Towards a Mirror Neuron System via Dual Channel Conditional Neural Movement Primitives

Autorzy: Seker, M. Yunus; Oztop, Erhan; Akbulut, Mete Tuluhan; Asada, Minoru; Ugur, Emre
Opublikowane w: ICRA Brain-PIL Workshop, New advances in brain-inspired perception, interaction and learning, Numer 10, 2020
Wydawca: brain-pil.github.io/icra2020/
DOI: 10.5281/zenodo.4726656

Evaluating Planning for Policy Search

Autorzy: Jakob Hollenstein and Justus Piater
Opublikowane w: 1st Workshop on Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, 2019
Wydawca: informal

Coping with the variability in humans reward during simulated human-robot interactions through the coordination of multiple learning strategies *

Autorzy: Remi Dromnelle, Benoit Girard, Erwan Renaudo, Raja Chatila, Mehdi Khamassi
Opublikowane w: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020, Strona(/y) 612-617, ISBN 978-1-7281-6075-7
Wydawca: IEEE
DOI: 10.1109/ro-man47096.2020.9223451

Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization

Autorzy: Akbulut, M. Tuluhan; Bozdogan, Utku; Tekden, Ahmet; Ugur, Emre
Opublikowane w: 2021 IEEE International Conference on Robotics and Automation (ICRA), Numer 3, 2021
Wydawca: IEEE

DCNN-based Screw Classification in Automated Disassembly Processes

Autorzy: Erenus Yildiz, Florentin Wörgötter
Opublikowane w: Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems, 2020, Strona(/y) 61-68, ISBN 978-989-758-479-4
Wydawca: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0009979900610068

Conflicting Bundles: Adapting Architectures Towards the Improved Training of Deep Neural Networks

Autorzy: Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Opublikowane w: IEEE/CVF Winter Conference on Applications of Computer Vision, 2021
Wydawca: IEEE

Online Action Recognition

Autorzy: Suárez-Hernández, Alejandro; Segovia-Aguas, Javier; Torras, Carme; Alenyà, Guillem
Opublikowane w: AAAI Conference on Artificial Intelligence, Numer 14, 2021
Wydawca: AAAI

Kaldırma Aksiyonuyla Oluşan Yörüngenin Uzun Kısa Dönem Hafıza Modeliyle Tahmini

Autorzy: Tekden, Ahmet Ercan; Ugur, Emre
Opublikowane w: Turkish Robotics Conference, Numer 12, 2018
Wydawca: Bogazici University
DOI: 10.5281/zenodo.4726712

STRIPS action discovery

Autorzy: Alejandro Suárez Hernández, Javier Segovia-Aguas,Carme Torras, Guillem Alenyà
Opublikowane w: GenPlan AAAI Workshop on Generalization in Planning, 2020
Wydawca: AAAI

Autonomous skill-centric testing using deep learning

Autorzy: Simon Hangl, Sebastian Stabinger, Justus Piater
Opublikowane w: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Strona(/y) 95-102, ISBN 978-1-5386-2682-5
Wydawca: IEEE
DOI: 10.1109/IROS.2017.8202143

Towards Generalizable Associative Skill Memories

Autorzy: Hakan Girgin; Emre Ugur
Opublikowane w: ICRA 2017 Workshop on Learning and control for autonomous manipulation systems: the role of dimensionality reduction, Numer 1, 2017
Wydawca: ICRA Workshop on Learning and control for autonomous manipulation systems: the role of dimensionality reduction
DOI: 10.5281/zenodo.1183528

Model-Based Reinforcement Learning via Meta-Policy Optimization

Autorzy: Clavera, Ignasi; Rothfuss, Jonas; Schulman, John; Fujita, Yasuhiro; Asfour, Tamim; Abbeel, Pieter
Opublikowane w: Conference on Robot Learning, Numer 1, 2018
Wydawca: Proceedings of Machine Learning Research

Interleaving Hierarchical Task Planning and Motion Constraint Testing for Dual-Arm Manipulation

Autorzy: Alejandro Suarez-Hernandez, Guillem Alenya, Carme Torras
Opublikowane w: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Strona(/y) 4061-4066, ISBN 978-1-5386-8094-0
Wydawca: IEEE
DOI: 10.1109/IROS.2018.8593847

Associative Skill Memory Models

Autorzy: Hakan Girgin; Emre Ugur
Opublikowane w: IEEE/RSJ International Conference on Intelligent Robots and Systems, Numer 1, 2018, Strona(/y) 6043-6048
Wydawca: IEEE

Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases10-30

Autorzy: Ferreira, Fabio; Shao, Lin; Asfour, Tamim; Bohg, Jeannette
Opublikowane w: NeurIPS 2019 Graph Representation Learning workshop, Numer 1, 2019
Wydawca: none
DOI: 10.5281/zenodo.3523161

The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm

Autorzy: Julia Borras, Raphael Heudorfer, Samuel Rader, Peter Kaiser, Tamim Asfour
Opublikowane w: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Strona(/y) 4590-4597, ISBN 978-1-5386-8094-0
Wydawca: IEEE
DOI: 10.1109/IROS.2018.8593567

Learning Via-Point Movement Primitives with Inter- and Extrapolation Capabilities

Autorzy: Zhou, You; Gao, Jianfeng; Asfour, Tamim
Opublikowane w: IEEE/RSJ International Conference on Intelligent Robots and Systems, Numer 1, 2019
Wydawca: IEEE
DOI: 10.5281/zenodo.3523144

Sekil Bağlamı Kullanarak Eylem-Etki Tahmini

Autorzy: Seker, M. Yunus; Çağırıcı, Erhan; Ugur, Emre
Opublikowane w: Turkish Robotics Conference, Numer 3, 2018
Wydawca: Bogazici University
DOI: 10.5281/zenodo.4726698

How do Offline Measures for Exploration in Reinforcement Learning behave?

Autorzy: Hollenstein, Jakob J.; Auddy, Sayantan; Saveriano, Matteo; Renaudo, Erwan; Piater, Justus
Opublikowane w: Knowledge Based Reinforcement Learning Workshop, 2021
Wydawca: workshop organizers

An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems

Autorzy: Matteo Saveriano
Opublikowane w: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Strona(/y) 4407-4413, ISBN 978-1-7281-7395-5
Wydawca: IEEE
DOI: 10.1109/icra40945.2020.9196978

Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects

Autorzy: Agniva Sengupta, Romain Lagneau, Alexandre Krupa, Eric Marchand, Maud Marchal
Opublikowane w: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Strona(/y) 10038-10044, ISBN 978-1-7281-7395-5
Wydawca: IEEE
DOI: 10.1109/icra40945.2020.9196770

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Autorzy: Antonin Bernardin, Christian Duriez, Maud Marchal
Opublikowane w: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Strona(/y) 1466-1471, ISBN 978-1-7281-4004-9
Wydawca: IEEE
DOI: 10.1109/iros40897.2019.8967526

Locally Weighted CNMPs for Generating Flexible Action Sequences

Autorzy: Ahmetoglu, Alper; Seker, Yunus; Oztop, Erhan; Asada, Minoru; Ugur, Emre
Opublikowane w: Winter Workshop on Mechanism of Brain and Mind, Numer 12, 2020
Wydawca: http://brainmind.umin.jp/eng-index.html
DOI: 10.5281/zenodo.4726673

Generalized Planning with Positive and Negative Examples

Autorzy: Javier Segovia-Aguas, Sergio Jiménez, Anders Jonsson
Opublikowane w: Proceedings of the AAAI Conference on Artificial Intelligence, Numer 34/06, 2020, Strona(/y) 9949-9956, ISSN 2374-3468
Wydawca: Association for the Advancement of Artificial Intelligence
DOI: 10.1609/aaai.v34i06.6550

Automatic Shape Control of Deformable Wires Based on Model-Free Visual Servoing

Autorzy: Romain Lagneau, Alexandre Krupa, Maud Marchal
Opublikowane w: IEEE Robotics and Automation Letters, Numer 5/4, 2020, Strona(/y) 5252-5259, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2020.3007114

conflicting_bundle.py—A python module to identify problematic layers in deep neural networks

Autorzy: David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Opublikowane w: Software Impacts, Numer 7, 2021, Strona(/y) 100053, ISSN 2665-9638
Wydawca: Elsevier
DOI: 10.1016/j.simpa.2021.100053

Symbol Emergence in Cognitive Developmental Systems: A Survey

Autorzy: Tadahiro Taniguchi, Justus Piater, Florentin Worgotter, Emre Ugur, Matej Hoffmann, Lorenzo Jamone, Takayuki Nagai, Benjamin Rosman, Toshihiko Matsuka, Naoto Iwahashi, Erhan Oztop
Opublikowane w: IEEE Transactions on Cognitive and Developmental Systems, Numer 11/4, 2019, Strona(/y) 494-516, ISSN 2379-8920
Wydawca: IEEE
DOI: 10.1109/TCDS.2018.2867772

Learning from Multiple Demonstrations with Different Modes of Operations

Autorzy: Utku Bozdogan
Opublikowane w: International Journal of Intelligent Systems and Applications in Engineering, Numer 8/1, 2020, Strona(/y) 37-44, ISSN 2147-6799
Wydawca: Selcuk University
DOI: 10.18201/ijisae.2020158887

Computational models of affordance in robotics: a taxonomy and systematic classification

Autorzy: Philipp Zech, Simon Haller, Safoura Rezapour Lakani, Barry Ridge, Emre Ugur, Justus Piater
Opublikowane w: Adaptive Behavior, Numer 25/5, 2017, Strona(/y) 235-271, ISSN 1059-7123
Wydawca: SAGE Publications
DOI: 10.1177/1059712317726357

Extraction of Physically Plausible Support Relations to Predict and Validate Manipulation Action Effects

Autorzy: Rainer Kartmann, Fabian Paus, Markus Grotz, Tamim Asfour
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/4, 2018, Strona(/y) 3991-3998, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2018.2859448

Practical Resolution Methods for MDPs in Robotics Exemplified With Disassembly Planning

Autorzy: Alejandro Suarez-Hernandez, Carme Torras, Guillem Alenya
Opublikowane w: IEEE Robotics and Automation Letters, Numer 4/3, 2019, Strona(/y) 2282-2288, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2019.2901905

Deep effect trajectory prediction in robot manipulation

Autorzy: M. Yunus Seker, Ahmet E. Tekden, Emre Ugur
Opublikowane w: Robotics and Autonomous Systems, Numer 119, 2019, Strona(/y) 173-184, ISSN 0921-8890
Wydawca: Elsevier BV
DOI: 10.1016/j.robot.2019.07.003

Context-based affordance segmentation from 2D images for robot actions

Autorzy: Timo Lüddecke, Tomas Kulvicius, Florentin Wörgötter
Opublikowane w: Robotics and Autonomous Systems, Numer 119, 2019, Strona(/y) 92-107, ISSN 0921-8890
Wydawca: Elsevier BV
DOI: 10.1016/j.robot.2019.05.005

Compliant Parametric Dynamic Movement Primitives

Autorzy: Emre Ugur, Hakan Girgin
Opublikowane w: Robotica, 2019, Strona(/y) 1-18, ISSN 0263-5747
Wydawca: Cambridge University Press
DOI: 10.1017/S026357471900078X

Relational reinforcement learning for planning with exogenous effects

Autorzy: Martinez , David; Alenya , Guillem; Ribeiro , Tony; Inoue , Katsumi; Torras , Carme
Opublikowane w: Journal of Machine Learning Research, Numer 18, 2017, ISSN 1533-7928
Wydawca: JMLR Inc.

Action representations in robotics: A taxonomy and systematic classification

Autorzy: Philipp Zech, Erwan Renaudo, Simon Haller, Xiang Zhang, Justus Piater
Opublikowane w: The International Journal of Robotics Research, Numer 38/5, 2019, Strona(/y) 518-562, ISSN 0278-3649
Wydawca: SAGE Publications
DOI: 10.1177/0278364919835020

Affordance-based altruistic robotic architecture for human–robot collaboration

Autorzy: Mert Imre, Erhan Oztop, Yukie Nagai, Emre Ugur
Opublikowane w: Adaptive Behavior, Numer 27/4, 2019, Strona(/y) 223-241, ISSN 1059-7123
Wydawca: SAGE Publications
DOI: 10.1177/1059712318824697

Combining decision making and dynamical systems for monitoring and executing manipulation tasks

Autorzy: Matteo Saveriano, Justus Piater
Opublikowane w: e & i Elektrotechnik und Informationstechnik, Numer 137/6, 2020, Strona(/y) 309-315, ISSN 0932-383X
Wydawca: Springer Verlag
DOI: 10.1007/s00502-020-00816-7

Limitation of capsule networks

Autorzy: David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Opublikowane w: Pattern Recognition Letters, Numer 144, 2021, Strona(/y) 68-74, ISSN 0167-8655
Wydawca: Elsevier BV
DOI: 10.1016/j.patrec.2021.01.017

Auto-tuning of Deep Neural Networks by Conflicting Layer Removal

Autorzy: Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Opublikowane w: submitted to Neural Networks, 2021
Wydawca: arXiv.org

Object and Relation Centric Representations for Push Effect Prediction

Autorzy: Tekden, Ahmet E.; Erdem, Aykut; Erdem, Erkut; Asfour, Tamim; Ugur, Emre
Opublikowane w: 2021
Wydawca: arXiv.org

Rezultaty

Publikacje

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