Learning from demonstration using products of experts: Applications to manipulation and task prioritization
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The idea of stochastic sediment transport models emerged in the 1930s, notably with the doctoral work of Hans A. Einstein (1936). Einstein's seminal work gave impulse to several stochastic models, which usually led to thin-tailed or bounded distributions f ...
Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...
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Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could be set up ...
Controlling robots with multiple degrees of freedom (DOFs) is still an open and challenging issue, notably because planning complex, multidimensional trajectories in time-varying environments is a laborious and costly process. In this dissertation, we prop ...
Increasingly, uncertainties are explicitly considered for important engineering tasks. Often, little case-specific information is available for characterizing these uncertainties. Uniform distributions are an easy way to describe errors in absence of more ...
In this thesis we tackle the problem of goal-oriented adaptation of a robot hitting motion. We propose the parameters that must be learned in order to use and adapt a basic hitting motion to play minigolf. Then, two different statistical methods are used t ...
While dealing with sub-micrometer precision robots, thermal expansion is the most significant source of inaccuracy. Thermal variations in the environment, in the robot parts and in the frame change the robot geometry, lowering the robot precision. In this ...
Nanoparticles are finding many research and industrial applications, yet their characterization remains a challenge. Their cores are often polydisperse and coated by a stabilizing shell that varies in size and composition. No single technique can character ...
The existence of invariant generators for distributions satisfying a compatibility condition with the symmetry algebra is proved. (C) 2011 Elsevier B.V. All rights reserved. ...