{"id":215,"date":"2015-07-17T12:31:54","date_gmt":"2015-07-17T11:31:54","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=215"},"modified":"2015-07-17T12:31:54","modified_gmt":"2015-07-17T11:31:54","slug":"example-of-application-of-bayesian-network-learning-and-inference-to-robotics-and-a-brief-but-useful-related-work-on-learning-by-imitation","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=215","title":{"rendered":"Example of application of bayesian network learning and inference to robotics, and a brief but useful related work on learning by imitation"},"content":{"rendered":"<h4>Dan Song; Ek, C.H.; Huebner, K.; Kragic, D., <strong>Task-Based Robot Grasp Planning Using Probabilistic Inference,<\/strong> Robotics, IEEE Transactions on , vol.31, no.3, pp.546,561, June 2015, <a href=\"doi.org\/10.1109\/TRO.2015.2409912\" target=\"_blank\">DOI: 10.1109\/TRO.2015.2409912<\/a>.<\/h4>\n<blockquote><p>Grasping and manipulating everyday objects in a goal-directed manner is an important ability of a service robot. The robot needs to reason about task requirements and ground these in the sensorimotor information. Grasping and interaction with objects are challenging in real-world scenarios, where sensorimotor uncertainty is prevalent. This paper presents a probabilistic framework for the representation and modeling of robot-grasping tasks. The framework consists of Gaussian mixture models for generic data discretization, and discrete Bayesian networks for encoding the probabilistic relations among various task-relevant variables, including object and action features as well as task constraints. We evaluate the framework using a grasp database generated in a simulated environment including a human and two robot hand models. The generative modeling approach allows the prediction of grasping tasks given uncertain sensory data, as well as object and grasp selection in a task-oriented manner. Furthermore, the graphical model framework provides insights into dependencies between variables and features relevant for object grasping.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Dan Song; Ek, C.H.; Huebner, K.; Kragic, D., Task-Based Robot Grasp Planning Using Probabilistic Inference, Robotics, IEEE Transactions on , <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=215\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[46],"tags":[102,103,38,65,71,6],"class_list":["post-215","post","type-post","status-publish","format-standard","hentry","category-learning-from-demonstration","tag-bayesian-inference","tag-bayesian-learning","tag-bayesian-networks","tag-manipulation","tag-skill-learning","tag-useful-for-teaching"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/215"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=215"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/215\/revisions"}],"predecessor-version":[{"id":216,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/215\/revisions\/216"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=215"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=215"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=215"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}