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dc.contributorGiró Nieto, Xavier
dc.contributorRodriguez, Alberto
dc.contributor.authorOller Oliveras, Miquel
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Teoria del Senyal i Comunicacions
dc.date.accessioned2018-11-29T11:16:16Z
dc.date.issued2018-10-19
dc.identifier.urihttp://hdl.handle.net/2117/125223
dc.descriptionThe details of the work will be defined once the student arrives at the destination institution.
dc.description.abstractThis thesis explores an efficient learning, inference, control and planning for complex manip- ulation skills based on integrating tactile and visual information. Considering how humans are able to integrate tactile and visual stimuli to execute complex manipulation, we base this work in emulating the human causal reasoning in a robot that learns to play Jenga, a complex game that requires physical interaction to be played. Unlike most current robotic learning methodologies which exploit recent progress in computer vision and deep learning to acquire data-hungry pixel-to-action policies, we exploit force and basic intuitive structure such as causality to learn probabilistic models. The game mechanics are formulated as a generative process using a temporal hierarchical Bayesian model, with representations for both behavioral arches-types and noisy block states. This captures causal relationships in force and visual domain after a short exploration phase. Once the learning is done, the robot uses the learned representations to infer the block behavior patterns and states, and then adjust its behavior in both action and game strategy, emulating the way humans play the game.
dc.language.isoeng
dc.publisherUniversitat Politècnica de Catalunya
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació
dc.subject.lcshRobotics
dc.subject.lcshMachine learning
dc.subject.otherRobotics
dc.subject.otherManipulaiton
dc.subject.otherLearning
dc.subject.otherRobotica
dc.subject.otherManipulación
dc.titleLearning complex manipulation skills with causal structure and multi-sensory fusion
dc.title.alternativeComo Enseñar a un Robot Complejas Habilidades de Manipulación
dc.title.alternativeCom Ensenyar a un Robot Complexes Habilitats de Manipulació
dc.typeBachelor thesis
dc.subject.lemacRobòtica
dc.subject.lemacAprenentatge automàtic
dc.identifier.slugETSETB-230.134477
dc.rights.accessRestricted access - author's decision
dc.date.lift10000-01-01
dc.date.updated2018-10-23T05:53:05Z
dc.audience.educationlevelGrau
dc.audience.mediatorEscola Tècnica Superior d'Enginyeria de Telecomunicació de Barcelona
dc.audience.degreeGRAU EN CIÈNCIES I TECNOLOGIES DE TELECOMUNICACIÓ (Pla 2010)


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