Difference between revisions of "Projects vvv2014"

From Wiki for iCub and Friends
Jump to: navigation, search
(Incremental Learning applications on iCub using the GURLS++ package)
Line 23: Line 23:
 
== Incremental Learning applications on iCub using the GURLS++ package ==
 
== Incremental Learning applications on iCub using the GURLS++ package ==
  
The goals of the project are the following:
+
The main goals of the project are the following:
 
+
# Implement a numerically stable incremental RLS update rule (cholupdate) in the GURLS++ framework. The functionality has already been tested in MATLAB, replicating the work by Gijsberts et al.: ‘Incremental Learning of Robot Dynamics using Random Features’
 
+
# Design and develop a simple prototypical YARP module to serve as an interface with the robot
* Implement a numerically stable incremental RLS update rule (cholupdate) in the GURLS++ framework.
+
# Run an on-line inverse dynamics learner on the real robot
* Already tested in MATLAB, replicating the work by Gijsberts et al.: ‘Incremental Learning of Robot Dynamics using Random Features’
 
* Design and develop a simple prototypical YARP module to serve as an interface with the robot
 
* Run an on-line inverse dynamics learner on the real robot
 
  
  
Line 37: Line 34:
 
</gallery>
 
</gallery>
  
Resources
+
Resources:
 
* The GURLS++ package (see http://lcsl.github.io/GURLS/index.html)
 
* The GURLS++ package (see http://lcsl.github.io/GURLS/index.html)
 
* Previous work on non-parametric learning of the inverse dynamics of the iCub arm by Arjan Gijsberts (see http://www.iit.it/images/images/icub-facility/docs/theses/gijsberts.pdf)
 
* Previous work on non-parametric learning of the inverse dynamics of the iCub arm by Arjan Gijsberts (see http://www.iit.it/images/images/icub-facility/docs/theses/gijsberts.pdf)

Revision as of 03:06, 26 July 2014

Please populate this page with the name of the project, the name of the people that participate in the project and a short description of what the project aims to do and what individual people are planning to do within the group. A group can be made by an individual person or more.

It is important that everybody works towards something, no matter how simple or complex.

Wysiwyd

People:

  • Stephane: sensorimotor contingencies using SOMs that match other SOMs
  • ...
  • ...

Goal of the project:

...

Exploration of tools and objects affordances (in the context of Poeticon++)

People: Afonso, Lorenzo, Tanis, Vadim

Goal: Perform a set of actions on objects using tools, recording visual descriptors of tools, objects, and effects of the action.

Incremental Learning applications on iCub using the GURLS++ package

The main goals of the project are the following:

  1. Implement a numerically stable incremental RLS update rule (cholupdate) in the GURLS++ framework. The functionality has already been tested in MATLAB, replicating the work by Gijsberts et al.: ‘Incremental Learning of Robot Dynamics using Random Features’
  2. Design and develop a simple prototypical YARP module to serve as an interface with the robot
  3. Run an on-line inverse dynamics learner on the real robot


Resources: