Aude Billard's Books

Learning for Adaptive and Reactive Robot Control

A Dynamical Systems Approach

By: Aude Billard,Sina Mirrazavi,Nadia Figueroa

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Learning for Adaptive and Reactive Robot Control

A Dynamical Systems Approach

By: Aude Billard,Sina Mirrazavi,Nadia Figueroa

Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.

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Page Count

425

Publisher

MIT Press

Published Date

ISBN 10

0262367017

ISBN 13

9780262367011

Tactile Guidance for Policy Adaptation

By: Brenna D. Argall,Eric L. Sauser,Aude G. Billard

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Tactile Guidance for Policy Adaptation

By: Brenna D. Argall,Eric L. Sauser,Aude G. Billard

Demonstration learning is a powerful and practical technique to develop robot behaviors. Even so, development remains a challenge and possible demonstration limitations, for example correspondence issues between the robot and demonstrator, can degrade policy performance. This work presents an approach for policy improvement through a tactile interface located on the body of the robot. We introduce the Tactile Policy Correction (TPC) algorithm, that employs tactile feedback for the refinement of a demonstrated policy, as well as its reuse for the development of other policies. The TPC algorithm is validated on humanoid robot performing grasp positioning tasks. The performance of the demonstrated policy is found to improve with tactile corrections. Tactile guidance also is shown to enable the development of policies able to successfully execute novel, undemonstrated, tasks. We further show that different modalities, namely teleoperation and tactile control, provide information about allowable variability in the target behavior in different areas of the state space.

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Now Publishers Inc

Published Date

ISBN 10

1601984367

ISBN 13

9781601984364

Tactile Guidance for Policy Adaptation

By: Brenna D. Argall,Eric L. Sauser,Aude G. Billard

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Tactile Guidance for Policy Adaptation

By: Brenna D. Argall,Eric L. Sauser,Aude G. Billard

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Solve jigsaw puzzle

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Publisher

Now Publishers Inc

Published Date

ISBN 10

1601984367

ISBN 13

9781601984364

Book's by Aude Billard

Learning for Adaptive and Reactive Robot Control

Learning for Adaptive and Reactive Robot Control

Tactile Guidance for Policy Adaptation

Tactile Guidance for Policy Adaptation

Tactile Guidance for Policy Adaptation

Tactile Guidance for Policy Adaptation

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