Robots Understanding Their Actions by Imagining Their Effects

Información del proyecto

IMAGINE

Identificador del acuerdo de subvención: 731761

DOI

10.3030/731761

Proyecto cerrado

Fecha de la firma de la CE 3 Noviembre 2016

Fecha de inicio 1 Enero 2017

Fecha de finalización 28 Febrero 2021

Financiado con arreglo a

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

Coste total

€ 3 797 050,00

Aportación de la UE

€ 3 797 050,00

Coordinado por

UNIVERSITAET INNSBRUCK
Austria

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

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

Publicaciones

Conference proceedings (34)

Parametrik Dinamik Motor Primitifleri

Autores: Girgin, Hakan; Ugur, Emre
Publicado en: Turkish Robotics Journal, Edición 3, 2018
Editor: Bogazici University
DOI: 10.5281/zenodo.4726690

How does explicit exploration influence Deep Reinforcement Learning?

Autores: Jakob Hollenstein, Erwan Renaudo, Matteo Saveriano, Justus Piater
Publicado en: Proceedings of the Joint Austrian Computer Vision and Robotics Workshop 2020, 2020, Página(s) 29-30, ISBN 978-3-85125-752-6
Editor: 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

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

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

Autores: de la Cruz, Pilar; Piater, Justus; Saveriano, Matteo
Publicado en: IEEE International Conference on Systems, Man, and Cybernetics, 2020
Editor: IEEE

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

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

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

Autores: Akbulut, M. Tuluhan; Oztop, Erhan; Seker, M. Yunus; Xue, Honghu; Tekden, Ahmet E.; Ugur, Emre
Publicado en: Conference on Robot Learning (CoRL), Edición 11, 2020
Editor: JMLR Workshop & Conference Proceedings series

DCNN-Based Screw Detection for Automated Disassembly Processes

Autores: Erenus Yildiz, Florentin Worgotter
Publicado en: 2019 15th International Conference on Signal-Image Technology & Internet-Based Systems (SITIS), 2019, Página(s) 187-192, ISBN 978-1-7281-5686-6
Editor: IEEE
DOI: 10.1109/sitis.2019.00040

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

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

Active Deformation through Visual Servoing of Soft Objects

Autores: Romain Lagneau, Alexandre Krupa, Maud Marchal
Publicado en: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Página(s) 8978-8984, ISBN 978-1-7281-7395-5
Editor: IEEE
DOI: 10.1109/icra40945.2020.9197506

Conditional Neural Movement Primitives

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

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

Autores: Klas, C., Hundhausen, F., Gao, J., Dreher, C. R. G., Reither, S., Zhou, Y. and Asfour, T.
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), May, 2021, 2021
Editor: IEEE

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

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

Evaluating Planning for Policy Search

Autores: Jakob Hollenstein and Justus Piater
Publicado en: 1st Workshop on Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, 2019
Editor: informal

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

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

Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization

Autores: Akbulut, M. Tuluhan; Bozdogan, Utku; Tekden, Ahmet; Ugur, Emre
Publicado en: 2021 IEEE International Conference on Robotics and Automation (ICRA), Edición 3, 2021
Editor: IEEE

DCNN-based Screw Classification in Automated Disassembly Processes

Autores: Erenus Yildiz, Florentin Wörgötter
Publicado en: Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems, 2020, Página(s) 61-68, ISBN 978-989-758-479-4
Editor: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0009979900610068

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

Autores: Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Publicado en: IEEE/CVF Winter Conference on Applications of Computer Vision, 2021
Editor: IEEE

Online Action Recognition

Autores: Suárez-Hernández, Alejandro; Segovia-Aguas, Javier; Torras, Carme; Alenyà, Guillem
Publicado en: AAAI Conference on Artificial Intelligence, Edición 14, 2021
Editor: AAAI

Kaldırma Aksiyonuyla Oluşan Yörüngenin Uzun Kısa Dönem Hafıza Modeliyle Tahmini

Autores: Tekden, Ahmet Ercan; Ugur, Emre
Publicado en: Turkish Robotics Conference, Edición 12, 2018
Editor: Bogazici University
DOI: 10.5281/zenodo.4726712

STRIPS action discovery

Autores: Alejandro Suárez Hernández, Javier Segovia-Aguas,Carme Torras, Guillem Alenyà
Publicado en: GenPlan AAAI Workshop on Generalization in Planning, 2020
Editor: AAAI

Autonomous skill-centric testing using deep learning

Autores: Simon Hangl, Sebastian Stabinger, Justus Piater
Publicado en: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Página(s) 95-102, ISBN 978-1-5386-2682-5
Editor: IEEE
DOI: 10.1109/IROS.2017.8202143

Towards Generalizable Associative Skill Memories

Autores: Hakan Girgin; Emre Ugur
Publicado en: ICRA 2017 Workshop on Learning and control for autonomous manipulation systems: the role of dimensionality reduction, Edición 1, 2017
Editor: 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

Autores: Clavera, Ignasi; Rothfuss, Jonas; Schulman, John; Fujita, Yasuhiro; Asfour, Tamim; Abbeel, Pieter
Publicado en: Conference on Robot Learning, Edición 1, 2018
Editor: Proceedings of Machine Learning Research

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

Autores: Alejandro Suarez-Hernandez, Guillem Alenya, Carme Torras
Publicado en: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Página(s) 4061-4066, ISBN 978-1-5386-8094-0
Editor: IEEE
DOI: 10.1109/IROS.2018.8593847

Associative Skill Memory Models

Autores: Hakan Girgin; Emre Ugur
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems, Edición 1, 2018, Página(s) 6043-6048
Editor: IEEE

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

Autores: Ferreira, Fabio; Shao, Lin; Asfour, Tamim; Bohg, Jeannette
Publicado en: NeurIPS 2019 Graph Representation Learning workshop, Edición 1, 2019
Editor: 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

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

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

Autores: Zhou, You; Gao, Jianfeng; Asfour, Tamim
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems, Edición 1, 2019
Editor: IEEE
DOI: 10.5281/zenodo.3523144

Sekil Bağlamı Kullanarak Eylem-Etki Tahmini

Autores: Seker, M. Yunus; Çağırıcı, Erhan; Ugur, Emre
Publicado en: Turkish Robotics Conference, Edición 3, 2018
Editor: Bogazici University
DOI: 10.5281/zenodo.4726698

How do Offline Measures for Exploration in Reinforcement Learning behave?

Autores: Hollenstein, Jakob J.; Auddy, Sayantan; Saveriano, Matteo; Renaudo, Erwan; Piater, Justus
Publicado en: Knowledge Based Reinforcement Learning Workshop, 2021
Editor: workshop organizers

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

Autores: Matteo Saveriano
Publicado en: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Página(s) 4407-4413, ISBN 978-1-7281-7395-5
Editor: IEEE
DOI: 10.1109/icra40945.2020.9196978

Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects

Autores: Agniva Sengupta, Romain Lagneau, Alexandre Krupa, Eric Marchand, Maud Marchal
Publicado en: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Página(s) 10038-10044, ISBN 978-1-7281-7395-5
Editor: IEEE
DOI: 10.1109/icra40945.2020.9196770

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Autores: Antonin Bernardin, Christian Duriez, Maud Marchal
Publicado en: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Página(s) 1466-1471, ISBN 978-1-7281-4004-9
Editor: IEEE
DOI: 10.1109/iros40897.2019.8967526

Locally Weighted CNMPs for Generating Flexible Action Sequences

Autores: Ahmetoglu, Alper; Seker, Yunus; Oztop, Erhan; Asada, Minoru; Ugur, Emre
Publicado en: Winter Workshop on Mechanism of Brain and Mind, Edición 12, 2020
Editor: http://brainmind.umin.jp/eng-index.html
DOI: 10.5281/zenodo.4726673

Peer reviewed articles (16)

Generalized Planning with Positive and Negative Examples

Autores: Javier Segovia-Aguas, Sergio Jiménez, Anders Jonsson
Publicado en: Proceedings of the AAAI Conference on Artificial Intelligence, Edición 34/06, 2020, Página(s) 9949-9956, ISSN 2374-3468
Editor: 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

Autores: Romain Lagneau, Alexandre Krupa, Maud Marchal
Publicado en: IEEE Robotics and Automation Letters, Edición 5/4, 2020, Página(s) 5252-5259, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.3007114

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

Autores: David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Publicado en: Software Impacts, Edición 7, 2021, Página(s) 100053, ISSN 2665-9638
Editor: Elsevier
DOI: 10.1016/j.simpa.2021.100053

Symbol Emergence in Cognitive Developmental Systems: A Survey

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

Learning from Multiple Demonstrations with Different Modes of Operations

Autores: Utku Bozdogan
Publicado en: International Journal of Intelligent Systems and Applications in Engineering, Edición 8/1, 2020, Página(s) 37-44, ISSN 2147-6799
Editor: Selcuk University
DOI: 10.18201/ijisae.2020158887

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

Autores: Philipp Zech, Simon Haller, Safoura Rezapour Lakani, Barry Ridge, Emre Ugur, Justus Piater
Publicado en: Adaptive Behavior, Edición 25/5, 2017, Página(s) 235-271, ISSN 1059-7123
Editor: SAGE Publications
DOI: 10.1177/1059712317726357

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

Autores: Rainer Kartmann, Fabian Paus, Markus Grotz, Tamim Asfour
Publicado en: IEEE Robotics and Automation Letters, Edición 3/4, 2018, Página(s) 3991-3998, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2018.2859448

Practical Resolution Methods for MDPs in Robotics Exemplified With Disassembly Planning

Autores: Alejandro Suarez-Hernandez, Carme Torras, Guillem Alenya
Publicado en: IEEE Robotics and Automation Letters, Edición 4/3, 2019, Página(s) 2282-2288, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2019.2901905

Deep effect trajectory prediction in robot manipulation

Autores: M. Yunus Seker, Ahmet E. Tekden, Emre Ugur
Publicado en: Robotics and Autonomous Systems, Edición 119, 2019, Página(s) 173-184, ISSN 0921-8890
Editor: Elsevier BV
DOI: 10.1016/j.robot.2019.07.003

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

Autores: Timo Lüddecke, Tomas Kulvicius, Florentin Wörgötter
Publicado en: Robotics and Autonomous Systems, Edición 119, 2019, Página(s) 92-107, ISSN 0921-8890
Editor: Elsevier BV
DOI: 10.1016/j.robot.2019.05.005

Compliant Parametric Dynamic Movement Primitives

Autores: Emre Ugur, Hakan Girgin
Publicado en: Robotica, 2019, Página(s) 1-18, ISSN 0263-5747
Editor: Cambridge University Press
DOI: 10.1017/S026357471900078X

Relational reinforcement learning for planning with exogenous effects

Autores: Martinez , David; Alenya , Guillem; Ribeiro , Tony; Inoue , Katsumi; Torras , Carme
Publicado en: Journal of Machine Learning Research, Edición 18, 2017, ISSN 1533-7928
Editor: JMLR Inc.

Action representations in robotics: A taxonomy and systematic classification

Autores: Philipp Zech, Erwan Renaudo, Simon Haller, Xiang Zhang, Justus Piater
Publicado en: The International Journal of Robotics Research, Edición 38/5, 2019, Página(s) 518-562, ISSN 0278-3649
Editor: SAGE Publications
DOI: 10.1177/0278364919835020

Affordance-based altruistic robotic architecture for human–robot collaboration

Autores: Mert Imre, Erhan Oztop, Yukie Nagai, Emre Ugur
Publicado en: Adaptive Behavior, Edición 27/4, 2019, Página(s) 223-241, ISSN 1059-7123
Editor: SAGE Publications
DOI: 10.1177/1059712318824697

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

Autores: Matteo Saveriano, Justus Piater
Publicado en: e & i Elektrotechnik und Informationstechnik, Edición 137/6, 2020, Página(s) 309-315, ISSN 0932-383X
Editor: Springer Verlag
DOI: 10.1007/s00502-020-00816-7

Limitation of capsule networks

Autores: David Peer, Sebastian Stabinger, Antonio Rodríguez-Sánchez
Publicado en: Pattern Recognition Letters, Edición 144, 2021, Página(s) 68-74, ISSN 0167-8655
Editor: Elsevier BV
DOI: 10.1016/j.patrec.2021.01.017

Other (2)

Auto-tuning of Deep Neural Networks by Conflicting Layer Removal

Autores: Peer, David; Stabinger, Sebastian; Rodriguez-Sanchez, Antonio
Publicado en: submitted to Neural Networks, 2021
Editor: arXiv.org

Object and Relation Centric Representations for Push Effect Prediction

Autores: Tekden, Ahmet E.; Erdem, Aykut; Erdem, Erkut; Asfour, Tamim; Ugur, Emre
Publicado en: 2021
Editor: arXiv.org