This open 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.
This open book is licensed under a Creative Commons License (CC BY). You can download Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection ebook for free in PDF format (5.8 MB).
Engineering and Technology
This book introduces readers to robotics, industrial robot mechanisms, and types of robots, e.g. parallel robots, mobile robots and humanoid robots. The book is based on over 20 years of teaching robotics and has been extensively class tested and praised for its simplicity.It addresses the following subjects: a general introduction to robotics; bas...
This book proceedings presents new approaches to Machine Learning for Cyber Physical Systems, experiences and visions. It contains some selected papers from the international Conference ML4CPS - Machine Learning for Cyber Physical Systems, which was held in Karlsruhe, October 23-24, 2018. Cyber Physical Systems are characterized by their ability to...
Bayesian methods for statistical analysis is a book on statistical methods for analysing a wide variety of data. The book consists of 12 chapters, starting with basic concepts and covering numerous topics, including Bayesian estimation, decision theory, prediction, hypothesis testing, hierarchical models, Markov chain Monte Carlo methods, finite po...
This open proceedings presents new approaches to Machine Learning for Cyber Physical Systems, experiences and visions. It contains selected papers from the fifth international Conference ML4CPS - Machine Learning for Cyber Physical Systems, which was held in Berlin, March 12-13, 2020. Cyber Physical Systems are characterized by their ability to ada...
This book bridges the gap between playing with robots in school and studying robotics at the upper undergraduate and graduate levels to prepare for careers in industry and research. Robotic algorithms are presented formally, but using only mathematics known by high-school and first-year college students, such as calculus, matrices and probability. ...