Object recall using an experience database to accelerate robot action planning

Richard Redpath; Jon Timmis; Martin Trefzer

IROS 2017poster0 citations

Object recall using an experience database to accelerate robot action planning

Richard Redpath, Jon Timmis, Martin Trefzer

Abstract

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.

BibTeX

@inproceedings{iros2017_objectrecallusin,
  title = {Object recall using an experience database to accelerate robot action planning},
  author = {Richard Redpath and Jon Timmis and Martin Trefzer},
  booktitle = {IROS 2017},
  year = {2017}
}