TY - GEN
T1 - Object recall using an experience database to accelerate robot action planning
AU - Redpath, Richard
AU - Timmis, Jon
AU - Trefzer, Martin
N1 - Funding Information:
*This work was supported by the EPSRC and the Department of Electronic Engineering, University of York 1Department of Electronic Engineering, University of York, York, UK [email protected] 2York Robotics Laboratory, University of York, UK
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Robot interaction planning is a computationally expensive process which rarely makes use of previous experiences in a deliberative manner. This paper addresses this issue by examining dimensionality reduction techniques to allow comparison of objects in a robot's environment based on the way they react to robot manipulation. We compare a number of techniques which can map objects from an observation space, which may contain thousands of dimensions, to a lower dimensionality space - the embedding space - which allows objects to be compared in an efficient manner, making knowledge transfer between similar objects more computationally tractable.
AB - Robot interaction planning is a computationally expensive process which rarely makes use of previous experiences in a deliberative manner. This paper addresses this issue by examining dimensionality reduction techniques to allow comparison of objects in a robot's environment based on the way they react to robot manipulation. We compare a number of techniques which can map objects from an observation space, which may contain thousands of dimensions, to a lower dimensionality space - the embedding space - which allows objects to be compared in an efficient manner, making knowledge transfer between similar objects more computationally tractable.
UR - http://www.scopus.com/inward/record.url?scp=85041957228&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8205963
DO - 10.1109/IROS.2017.8205963
M3 - Conference Proceeding (Non-Journal item)
AN - SCOPUS:85041957228
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1566
EP - 1571
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - IEEE Press
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -