Robots Understanding Their Actions by Imagining Their Effects

Risultati finali

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

Pubblicazioni

Parametrik Dinamik Motor Primitifleri

Autori: Girgin, Hakan; Ugur, Emre
Pubblicato in: Turkish Robotics Journal, Numero 3, 2018
Editore: Bogazici University
DOI: 10.5281/zenodo.4726690

How does explicit exploration influence Deep Reinforcement Learning?

Autori: Jakob Hollenstein, Erwan Renaudo, Matteo Saveriano, Justus Piater
Pubblicato in: Proceedings of the Joint Austrian Computer Vision and Robotics Workshop 2020, 2020, Pagina/e 29-30, ISBN 978-3-85125-752-6
Editore: 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

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

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

Autori: de la Cruz, Pilar; Piater, Justus; Saveriano, Matteo
Pubblicato in: IEEE International Conference on Systems, Man, and Cybernetics, 2020
Editore: IEEE

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

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

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

Autori: Akbulut, M. Tuluhan; Oztop, Erhan; Seker, M. Yunus; Xue, Honghu; Tekden, Ahmet E.; Ugur, Emre
Pubblicato in: Conference on Robot Learning (CoRL), Numero 11, 2020
Editore: JMLR Workshop & Conference Proceedings series

DCNN-Based Screw Detection for Automated Disassembly Processes

Autori: Erenus Yildiz, Florentin Worgotter
Pubblicato in: 2019 15th International Conference on Signal-Image Technology & Internet-Based Systems (SITIS), 2019, Pagina/e 187-192, ISBN 978-1-7281-5686-6
Editore: IEEE
DOI: 10.1109/sitis.2019.00040

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

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

Active Deformation through Visual Servoing of Soft Objects

Autori: Romain Lagneau, Alexandre Krupa, Maud Marchal
Pubblicato in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Pagina/e 8978-8984, ISBN 978-1-7281-7395-5
Editore: IEEE
DOI: 10.1109/icra40945.2020.9197506

Conditional Neural Movement Primitives

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

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

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

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

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

Evaluating Planning for Policy Search

Autori: Jakob Hollenstein and Justus Piater
Pubblicato in: 1st Workshop on Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, 2019
Editore: informal

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

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

Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization

Autori: Akbulut, M. Tuluhan; Bozdogan, Utku; Tekden, Ahmet; Ugur, Emre
Pubblicato in: 2021 IEEE International Conference on Robotics and Automation (ICRA), Numero 3, 2021
Editore: IEEE

DCNN-based Screw Classification in Automated Disassembly Processes

Autori: Erenus Yildiz, Florentin Wörgötter
Pubblicato in: Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems, 2020, Pagina/e 61-68, ISBN 978-989-758-479-4
Editore: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0009979900610068

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

Autori: Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Pubblicato in: IEEE/CVF Winter Conference on Applications of Computer Vision, 2021
Editore: IEEE

Online Action Recognition

Autori: Suárez-Hernández, Alejandro; Segovia-Aguas, Javier; Torras, Carme; Alenyà, Guillem
Pubblicato in: AAAI Conference on Artificial Intelligence, Numero 14, 2021
Editore: AAAI

Kaldırma Aksiyonuyla Oluşan Yörüngenin Uzun Kısa Dönem Hafıza Modeliyle Tahmini

Autori: Tekden, Ahmet Ercan; Ugur, Emre
Pubblicato in: Turkish Robotics Conference, Numero 12, 2018
Editore: Bogazici University
DOI: 10.5281/zenodo.4726712

STRIPS action discovery

Autori: Alejandro Suárez Hernández, Javier Segovia-Aguas,Carme Torras, Guillem Alenyà
Pubblicato in: GenPlan AAAI Workshop on Generalization in Planning, 2020
Editore: AAAI

Autonomous skill-centric testing using deep learning

Autori: Simon Hangl, Sebastian Stabinger, Justus Piater
Pubblicato in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Pagina/e 95-102, ISBN 978-1-5386-2682-5
Editore: IEEE
DOI: 10.1109/IROS.2017.8202143

Towards Generalizable Associative Skill Memories

Autori: Hakan Girgin; Emre Ugur
Pubblicato in: ICRA 2017 Workshop on Learning and control for autonomous manipulation systems: the role of dimensionality reduction, Numero 1, 2017
Editore: 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

Autori: Clavera, Ignasi; Rothfuss, Jonas; Schulman, John; Fujita, Yasuhiro; Asfour, Tamim; Abbeel, Pieter
Pubblicato in: Conference on Robot Learning, Numero 1, 2018
Editore: Proceedings of Machine Learning Research

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

Autori: Alejandro Suarez-Hernandez, Guillem Alenya, Carme Torras
Pubblicato in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Pagina/e 4061-4066, ISBN 978-1-5386-8094-0
Editore: IEEE
DOI: 10.1109/IROS.2018.8593847

Associative Skill Memory Models

Autori: Hakan Girgin; Emre Ugur
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Numero 1, 2018, Pagina/e 6043-6048
Editore: IEEE

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

Autori: Ferreira, Fabio; Shao, Lin; Asfour, Tamim; Bohg, Jeannette
Pubblicato in: NeurIPS 2019 Graph Representation Learning workshop, Numero 1, 2019
Editore: 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

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

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

Autori: Zhou, You; Gao, Jianfeng; Asfour, Tamim
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Numero 1, 2019
Editore: IEEE
DOI: 10.5281/zenodo.3523144

Sekil Bağlamı Kullanarak Eylem-Etki Tahmini

Autori: Seker, M. Yunus; Çağırıcı, Erhan; Ugur, Emre
Pubblicato in: Turkish Robotics Conference, Numero 3, 2018
Editore: Bogazici University
DOI: 10.5281/zenodo.4726698

How do Offline Measures for Exploration in Reinforcement Learning behave?

Autori: Hollenstein, Jakob J.; Auddy, Sayantan; Saveriano, Matteo; Renaudo, Erwan; Piater, Justus
Pubblicato in: Knowledge Based Reinforcement Learning Workshop, 2021
Editore: workshop organizers

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

Autori: Matteo Saveriano
Pubblicato in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Pagina/e 4407-4413, ISBN 978-1-7281-7395-5
Editore: IEEE
DOI: 10.1109/icra40945.2020.9196978

Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects

Autori: Agniva Sengupta, Romain Lagneau, Alexandre Krupa, Eric Marchand, Maud Marchal
Pubblicato in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Pagina/e 10038-10044, ISBN 978-1-7281-7395-5
Editore: IEEE
DOI: 10.1109/icra40945.2020.9196770

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Autori: Antonin Bernardin, Christian Duriez, Maud Marchal
Pubblicato in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Pagina/e 1466-1471, ISBN 978-1-7281-4004-9
Editore: IEEE
DOI: 10.1109/iros40897.2019.8967526

Locally Weighted CNMPs for Generating Flexible Action Sequences

Autori: Ahmetoglu, Alper; Seker, Yunus; Oztop, Erhan; Asada, Minoru; Ugur, Emre
Pubblicato in: Winter Workshop on Mechanism of Brain and Mind, Numero 12, 2020
Editore: http://brainmind.umin.jp/eng-index.html
DOI: 10.5281/zenodo.4726673

Generalized Planning with Positive and Negative Examples

Autori: Javier Segovia-Aguas, Sergio Jiménez, Anders Jonsson
Pubblicato in: Proceedings of the AAAI Conference on Artificial Intelligence, Numero 34/06, 2020, Pagina/e 9949-9956, ISSN 2374-3468
Editore: 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

Autori: Romain Lagneau, Alexandre Krupa, Maud Marchal
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5/4, 2020, Pagina/e 5252-5259, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.3007114

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

Autori: David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Pubblicato in: Software Impacts, Numero 7, 2021, Pagina/e 100053, ISSN 2665-9638
Editore: Elsevier
DOI: 10.1016/j.simpa.2021.100053

Symbol Emergence in Cognitive Developmental Systems: A Survey

Autori: Tadahiro Taniguchi, Justus Piater, Florentin Worgotter, Emre Ugur, Matej Hoffmann, Lorenzo Jamone, Takayuki Nagai, Benjamin Rosman, Toshihiko Matsuka, Naoto Iwahashi, Erhan Oztop
Pubblicato in: IEEE Transactions on Cognitive and Developmental Systems, Numero 11/4, 2019, Pagina/e 494-516, ISSN 2379-8920
Editore: IEEE
DOI: 10.1109/TCDS.2018.2867772

Learning from Multiple Demonstrations with Different Modes of Operations

Autori: Utku Bozdogan
Pubblicato in: International Journal of Intelligent Systems and Applications in Engineering, Numero 8/1, 2020, Pagina/e 37-44, ISSN 2147-6799
Editore: Selcuk University
DOI: 10.18201/ijisae.2020158887

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

Autori: Philipp Zech, Simon Haller, Safoura Rezapour Lakani, Barry Ridge, Emre Ugur, Justus Piater
Pubblicato in: Adaptive Behavior, Numero 25/5, 2017, Pagina/e 235-271, ISSN 1059-7123
Editore: SAGE Publications
DOI: 10.1177/1059712317726357

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

Autori: Rainer Kartmann, Fabian Paus, Markus Grotz, Tamim Asfour
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3/4, 2018, Pagina/e 3991-3998, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2018.2859448

Practical Resolution Methods for MDPs in Robotics Exemplified With Disassembly Planning

Autori: Alejandro Suarez-Hernandez, Carme Torras, Guillem Alenya
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4/3, 2019, Pagina/e 2282-2288, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2019.2901905

Deep effect trajectory prediction in robot manipulation

Autori: M. Yunus Seker, Ahmet E. Tekden, Emre Ugur
Pubblicato in: Robotics and Autonomous Systems, Numero 119, 2019, Pagina/e 173-184, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2019.07.003

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

Autori: Timo Lüddecke, Tomas Kulvicius, Florentin Wörgötter
Pubblicato in: Robotics and Autonomous Systems, Numero 119, 2019, Pagina/e 92-107, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2019.05.005

Compliant Parametric Dynamic Movement Primitives

Autori: Emre Ugur, Hakan Girgin
Pubblicato in: Robotica, 2019, Pagina/e 1-18, ISSN 0263-5747
Editore: Cambridge University Press
DOI: 10.1017/S026357471900078X

Relational reinforcement learning for planning with exogenous effects

Autori: Martinez , David; Alenya , Guillem; Ribeiro , Tony; Inoue , Katsumi; Torras , Carme
Pubblicato in: Journal of Machine Learning Research, Numero 18, 2017, ISSN 1533-7928
Editore: JMLR Inc.

Action representations in robotics: A taxonomy and systematic classification

Autori: Philipp Zech, Erwan Renaudo, Simon Haller, Xiang Zhang, Justus Piater
Pubblicato in: The International Journal of Robotics Research, Numero 38/5, 2019, Pagina/e 518-562, ISSN 0278-3649
Editore: SAGE Publications
DOI: 10.1177/0278364919835020

Affordance-based altruistic robotic architecture for human–robot collaboration

Autori: Mert Imre, Erhan Oztop, Yukie Nagai, Emre Ugur
Pubblicato in: Adaptive Behavior, Numero 27/4, 2019, Pagina/e 223-241, ISSN 1059-7123
Editore: SAGE Publications
DOI: 10.1177/1059712318824697

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

Autori: Matteo Saveriano, Justus Piater
Pubblicato in: e & i Elektrotechnik und Informationstechnik, Numero 137/6, 2020, Pagina/e 309-315, ISSN 0932-383X
Editore: Springer Verlag
DOI: 10.1007/s00502-020-00816-7

Limitation of capsule networks

Autori: David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Pubblicato in: Pattern Recognition Letters, Numero 144, 2021, Pagina/e 68-74, ISSN 0167-8655
Editore: Elsevier BV
DOI: 10.1016/j.patrec.2021.01.017

Auto-tuning of Deep Neural Networks by Conflicting Layer Removal

Autori: Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Pubblicato in: submitted to Neural Networks, 2021
Editore: arXiv.org

Object and Relation Centric Representations for Push Effect Prediction

Autori: Tekden, Ahmet E.; Erdem, Aykut; Erdem, Erkut; Asfour, Tamim; Ugur, Emre
Pubblicato in: 2021
Editore: arXiv.org

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