Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection / by Xuefeng Zhou, Hongmin Wu, Juan Rojas, Zhihao Xu, Shuai Li

By:

Zhou, Xuefeng [VerfasserIn]

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Resource type: Ressourcentyp: Buch (Online)Book (Online)Language: English Series: Springer eBook CollectionPublisher: Singapore : Springer Singapore, 2020Publisher: Singapore : Imprint: Springer, 2020Edition: 1st ed. 2020Description: 1 Online-Ressource(XVII, 137 p. 50 illus., 44 illus. in color.)ISBN:

9789811562631

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Additional physical formats: 9789811562624 | 9789811562648 | 9789811562655 | Erscheint auch als: 9789811562624 Druck-Ausgabe | Erscheint auch als: 9789811562648 Druck-Ausgabe | Erscheint auch als: 9789811562655 Druck-AusgabeDOI: DOI: 10.1007/978-981-15-6263-1Online resources:

Summary: Introduction to Robot Introspection -- Nonparametric Bayesian Modeling of Multimodal Time Series -- Incremental Learning Robot Complex Task Representation and Identification -- Nonparametric Bayesian Method for Robot Anomaly Monitoring -- Nonparametric Bayesian Method for Robot Anomaly Diagnose -- Learning Policy for Robot Anomaly Recovery based on Robot.Summary: This open access book focuses on robot introspection, which has a direct impact on physical human–robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is a direct way to improve autonomous behaviors. To this end, the authors start by considering the underlying pattern of multimodal observation during robot manipulation, which can effectively be modeled as a parametric hidden Markov model (HMM). They then adopt a nonparametric Bayesian approach in defining a prior using the hierarchical Dirichlet process (HDP) on the standard HMM parameters, known as the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM). The HDP-HMM can examine an HMM with an unbounded number of possible states and allows flexibility in the complexity of the learned model and the development of reliable and scalable variational inference methods. This book is a valuable reference resource for researchers and designers in the field of robot learning and multimodal perception, as well as for senior undergraduate and graduate university students.PPN: PPN: 1726034534Package identifier: Produktsigel: ZDB-2-SMA | ZDB-2-SOB | ZDB-2-SXMS | ZDB-2-SEB | ZDB-2-SEB

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