Robots Understanding Their Actions by Imagining Their Effects

Project Information

IMAGINE

Grant agreement ID: 731761

DOI 10.3030/731761

Project closed

EC signature date 3 November 2016

Start date 1 January 2017

End date 28 February 2021

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 3 797 050,00

EU contribution € 3 797 050,00

Coordinated by

UNIVERSITAET INNSBRUCK
Austria

Deliverables

Open Research Data Pilot (1)

Data management plan

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

Documents, reports (4)

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

Websites, patent fillings, videos etc. (1)

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

Publications

Conference proceedings (34)

Parametrik Dinamik Motor Primitifleri

Author(s): Girgin, Hakan; Ugur, Emre
Published in: Turkish Robotics Journal, Issue 3, 2018
Publisher: Bogazici University
DOI: 10.5281/zenodo.4726690

How does explicit exploration influence Deep Reinforcement Learning?

Author(s): Jakob Hollenstein, Erwan Renaudo, Matteo Saveriano, Justus Piater
Published in: Proceedings of the Joint Austrian Computer Vision and Robotics Workshop 2020, 2020, Page(s) 29-30, ISBN 978-3-85125-752-6
Publisher: 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

Author(s): Ahmet E. Tekden, Aykut Erdem, Erkut Erdem, Mert Imre, M. Yunus Seker, Emre Ugur
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 10556-10562, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196878

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

Author(s): de la Cruz, Pilar; Piater, Justus; Saveriano, Matteo
Published in: IEEE International Conference on Systems, Man, and Cybernetics, 2020
Publisher: IEEE

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

Author(s): Alejandro Suarez-Hernandez, Thierry Gaugry, Javier Segovia-Aguas, Antonin Bernardin, Carme Torras, Maud Marchal, Guillem Alenya
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 6902-6908, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341182

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

Author(s): Akbulut, M. Tuluhan; Oztop, Erhan; Seker, M. Yunus; Xue, Honghu; Tekden, Ahmet E.; Ugur, Emre
Published in: Conference on Robot Learning (CoRL), Issue 11, 2020
Publisher: JMLR Workshop & Conference Proceedings series

DCNN-Based Screw Detection for Automated Disassembly Processes

Author(s): Erenus Yildiz, Florentin Worgotter
Published in: 2019 15th International Conference on Signal-Image Technology & Internet-Based Systems (SITIS), 2019, Page(s) 187-192, ISBN 978-1-7281-5686-6
Publisher: IEEE
DOI: 10.1109/sitis.2019.00040

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

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

Active Deformation through Visual Servoing of Soft Objects

Author(s): Romain Lagneau, Alexandre Krupa, Maud Marchal
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 8978-8984, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9197506

Conditional Neural Movement Primitives

Author(s): Muhammet Yunus Seker, Mert Imre, Justus Piater, Emre Ugur
Published in: Robotics: Science and Systems XV, 2019, ISBN 978-0-9923747-5-4
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/rss.2019.xv.071

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

Author(s): Klas, C., Hundhausen, F., Gao, J., Dreher, C. R. G., Reither, S., Zhou, Y. and Asfour, T.
Published in: IEEE International Conference on Robotics and Automation (ICRA), May, 2021, 2021
Publisher: IEEE

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

Author(s): Seker, M. Yunus; Oztop, Erhan; Akbulut, Mete Tuluhan; Asada, Minoru; Ugur, Emre
Published in: ICRA Brain-PIL Workshop, New advances in brain-inspired perception, interaction and learning, Issue 10, 2020
Publisher: brain-pil.github.io/icra2020/
DOI: 10.5281/zenodo.4726656

Evaluating Planning for Policy Search

Author(s): Jakob Hollenstein and Justus Piater
Published in: 1st Workshop on Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, 2019
Publisher: informal

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

Author(s): Remi Dromnelle, Benoit Girard, Erwan Renaudo, Raja Chatila, Mehdi Khamassi
Published in: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020, Page(s) 612-617, ISBN 978-1-7281-6075-7
Publisher: IEEE
DOI: 10.1109/ro-man47096.2020.9223451

Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization

Author(s): Akbulut, M. Tuluhan; Bozdogan, Utku; Tekden, Ahmet; Ugur, Emre
Published in: 2021 IEEE International Conference on Robotics and Automation (ICRA), Issue 3, 2021
Publisher: IEEE

DCNN-based Screw Classification in Automated Disassembly Processes

Author(s): Erenus Yildiz, Florentin Wörgötter
Published in: Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems, 2020, Page(s) 61-68, ISBN 978-989-758-479-4
Publisher: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0009979900610068

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

Author(s): Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Published in: IEEE/CVF Winter Conference on Applications of Computer Vision, 2021
Publisher: IEEE

Online Action Recognition

Author(s): Suárez-Hernández, Alejandro; Segovia-Aguas, Javier; Torras, Carme; Alenyà, Guillem
Published in: AAAI Conference on Artificial Intelligence, Issue 14, 2021
Publisher: AAAI

Kaldırma Aksiyonuyla Oluşan Yörüngenin Uzun Kısa Dönem Hafıza Modeliyle Tahmini

Author(s): Tekden, Ahmet Ercan; Ugur, Emre
Published in: Turkish Robotics Conference, Issue 12, 2018
Publisher: Bogazici University
DOI: 10.5281/zenodo.4726712

STRIPS action discovery

Author(s): Alejandro Suárez Hernández, Javier Segovia-Aguas,Carme Torras, Guillem Alenyà
Published in: GenPlan AAAI Workshop on Generalization in Planning, 2020
Publisher: AAAI

Autonomous skill-centric testing using deep learning

Author(s): Simon Hangl, Sebastian Stabinger, Justus Piater
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 95-102, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202143

Towards Generalizable Associative Skill Memories

Author(s): Hakan Girgin; Emre Ugur
Published in: ICRA 2017 Workshop on Learning and control for autonomous manipulation systems: the role of dimensionality reduction, Issue 1, 2017
Publisher: 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

Author(s): Clavera, Ignasi; Rothfuss, Jonas; Schulman, John; Fujita, Yasuhiro; Asfour, Tamim; Abbeel, Pieter
Published in: Conference on Robot Learning, Issue 1, 2018
Publisher: Proceedings of Machine Learning Research

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

Author(s): Alejandro Suarez-Hernandez, Guillem Alenya, Carme Torras
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 4061-4066, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/IROS.2018.8593847

Associative Skill Memory Models

Author(s): Hakan Girgin; Emre Ugur
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 1, 2018, Page(s) 6043-6048
Publisher: IEEE

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

Author(s): Ferreira, Fabio; Shao, Lin; Asfour, Tamim; Bohg, Jeannette
Published in: NeurIPS 2019 Graph Representation Learning workshop, Issue 1, 2019
Publisher: 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

Author(s): Julia Borras, Raphael Heudorfer, Samuel Rader, Peter Kaiser, Tamim Asfour
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 4590-4597, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/IROS.2018.8593567

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

Author(s): Zhou, You; Gao, Jianfeng; Asfour, Tamim
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 1, 2019
Publisher: IEEE
DOI: 10.5281/zenodo.3523144

Sekil Bağlamı Kullanarak Eylem-Etki Tahmini

Author(s): Seker, M. Yunus; Çağırıcı, Erhan; Ugur, Emre
Published in: Turkish Robotics Conference, Issue 3, 2018
Publisher: Bogazici University
DOI: 10.5281/zenodo.4726698

How do Offline Measures for Exploration in Reinforcement Learning behave?

Author(s): Hollenstein, Jakob J.; Auddy, Sayantan; Saveriano, Matteo; Renaudo, Erwan; Piater, Justus
Published in: Knowledge Based Reinforcement Learning Workshop, 2021
Publisher: workshop organizers

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

Author(s): Matteo Saveriano
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 4407-4413, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196978

Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects

Author(s): Agniva Sengupta, Romain Lagneau, Alexandre Krupa, Eric Marchand, Maud Marchal
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 10038-10044, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196770

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Author(s): Antonin Bernardin, Christian Duriez, Maud Marchal
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 1466-1471, ISBN 978-1-7281-4004-9
Publisher: IEEE
DOI: 10.1109/iros40897.2019.8967526

Locally Weighted CNMPs for Generating Flexible Action Sequences

Author(s): Ahmetoglu, Alper; Seker, Yunus; Oztop, Erhan; Asada, Minoru; Ugur, Emre
Published in: Winter Workshop on Mechanism of Brain and Mind, Issue 12, 2020
Publisher: http://brainmind.umin.jp/eng-index.html
DOI: 10.5281/zenodo.4726673

Peer reviewed articles (16)

Generalized Planning with Positive and Negative Examples

Author(s): Javier Segovia-Aguas, Sergio Jiménez, Anders Jonsson
Published in: Proceedings of the AAAI Conference on Artificial Intelligence, Issue 34/06, 2020, Page(s) 9949-9956, ISSN 2374-3468
Publisher: 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

Author(s): Romain Lagneau, Alexandre Krupa, Maud Marchal
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 5252-5259, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3007114

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

Author(s): David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Published in: Software Impacts, Issue 7, 2021, Page(s) 100053, ISSN 2665-9638
Publisher: Elsevier
DOI: 10.1016/j.simpa.2021.100053

Symbol Emergence in Cognitive Developmental Systems: A Survey

Author(s): Tadahiro Taniguchi, Justus Piater, Florentin Worgotter, Emre Ugur, Matej Hoffmann, Lorenzo Jamone, Takayuki Nagai, Benjamin Rosman, Toshihiko Matsuka, Naoto Iwahashi, Erhan Oztop
Published in: IEEE Transactions on Cognitive and Developmental Systems, Issue 11/4, 2019, Page(s) 494-516, ISSN 2379-8920
Publisher: IEEE
DOI: 10.1109/TCDS.2018.2867772

Learning from Multiple Demonstrations with Different Modes of Operations

Author(s): Utku Bozdogan
Published in: International Journal of Intelligent Systems and Applications in Engineering, Issue 8/1, 2020, Page(s) 37-44, ISSN 2147-6799
Publisher: Selcuk University
DOI: 10.18201/ijisae.2020158887

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

Author(s): Philipp Zech, Simon Haller, Safoura Rezapour Lakani, Barry Ridge, Emre Ugur, Justus Piater
Published in: Adaptive Behavior, Issue 25/5, 2017, Page(s) 235-271, ISSN 1059-7123
Publisher: SAGE Publications
DOI: 10.1177/1059712317726357

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

Author(s): Rainer Kartmann, Fabian Paus, Markus Grotz, Tamim Asfour
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 3991-3998, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2859448

Practical Resolution Methods for MDPs in Robotics Exemplified With Disassembly Planning

Author(s): Alejandro Suarez-Hernandez, Carme Torras, Guillem Alenya
Published in: IEEE Robotics and Automation Letters, Issue 4/3, 2019, Page(s) 2282-2288, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2901905

Deep effect trajectory prediction in robot manipulation

Author(s): M. Yunus Seker, Ahmet E. Tekden, Emre Ugur
Published in: Robotics and Autonomous Systems, Issue 119, 2019, Page(s) 173-184, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2019.07.003

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

Author(s): Timo Lüddecke, Tomas Kulvicius, Florentin Wörgötter
Published in: Robotics and Autonomous Systems, Issue 119, 2019, Page(s) 92-107, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2019.05.005

Compliant Parametric Dynamic Movement Primitives

Author(s): Emre Ugur, Hakan Girgin
Published in: Robotica, 2019, Page(s) 1-18, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/S026357471900078X

Relational reinforcement learning for planning with exogenous effects

Author(s): Martinez , David; Alenya , Guillem; Ribeiro , Tony; Inoue , Katsumi; Torras , Carme
Published in: Journal of Machine Learning Research, Issue 18, 2017, ISSN 1533-7928
Publisher: JMLR Inc.

Action representations in robotics: A taxonomy and systematic classification

Author(s): Philipp Zech, Erwan Renaudo, Simon Haller, Xiang Zhang, Justus Piater
Published in: The International Journal of Robotics Research, Issue 38/5, 2019, Page(s) 518-562, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364919835020

Affordance-based altruistic robotic architecture for human–robot collaboration

Author(s): Mert Imre, Erhan Oztop, Yukie Nagai, Emre Ugur
Published in: Adaptive Behavior, Issue 27/4, 2019, Page(s) 223-241, ISSN 1059-7123
Publisher: SAGE Publications
DOI: 10.1177/1059712318824697

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

Author(s): Matteo Saveriano, Justus Piater
Published in: e & i Elektrotechnik und Informationstechnik, Issue 137/6, 2020, Page(s) 309-315, ISSN 0932-383X
Publisher: Springer Verlag
DOI: 10.1007/s00502-020-00816-7

Limitation of capsule networks

Author(s): David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Published in: Pattern Recognition Letters, Issue 144, 2021, Page(s) 68-74, ISSN 0167-8655
Publisher: Elsevier BV
DOI: 10.1016/j.patrec.2021.01.017

Other (2)

Auto-tuning of Deep Neural Networks by Conflicting Layer Removal

Author(s): Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Published in: submitted to Neural Networks, 2021
Publisher: arXiv.org

Object and Relation Centric Representations for Push Effect Prediction

Author(s): Tekden, Ahmet E.; Erdem, Aykut; Erdem, Erkut; Asfour, Tamim; Ugur, Emre
Published in: 2021
Publisher: arXiv.org