Learning from human demonstrations can facilitate automation but is risky because the execution of the learned policy might lead to collisions and other failures. Adding explicit constraints to avoid unsafe states is generally not possible when the state representations are complex. Furthermore, enforcing these constraints during execution of the learned policy can be challenging in environments where dynamics are difficult to model such as push mechanics in grasping. In this paper, we propose Derivative-Free Recovery (DFR), a two-phase method for generating robust policies from demonstrations in robotic manipulation tasks where the system comes to rest at each time step. In the first phase, we use support estimation of supervisor demonstrations and treat the support as implicit constraints on states. We also propose a time-varying modification for sequential tasks. In the second phase, we use this support estimate to derive a switching policy that employs the learned policy in the interior of the support and switches to a recovery policy to steer the robot away from the boundary of the support if it drifts too close. We present additional conditions, which linearly bound the difference in state at each time step by the magnitude of control, allowing us to prove that the robot will not violate the constraints using the recovery policy. A simulated pushing task in MuJoCo suggests that DFR can reduce collisions by 83 . On a physical line tracking task using a da Vinci Surgical Robot and a moving Stewart platform, DFR reduced collisions by 84 .
Significant literature exists on the topic of error detection and recovery (EDR) @cite_20 with models. For example, @cite_1 used EDR methods for planning with microrobots. In this paper we address this problem in the model-free domain.
@cite_1 @cite_20
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Software systems are often subject to unexpected runtime errors. Automatic runtime recovery (ARR) techniques aim at recovering them from erroneous states and maintaining them functional in the field. This paper proposes Ares , a novel, practical approach to performing ARR. Our key insight is to leverage a system's already built-in error handling support to recover from unexpected errors. To this end, we synthesize error handlers via two methods: error transformation and early return. We also equip Ares with a lightweight in-vivo testing infrastructure to select the right synthesis methods and avoid potentially dangerous error handlers. Unlike existing ARR techniques based on heavyweight mechanisms (e.g., checkpoint-restart and runtime monitoring), our approach expands the intrinsic capability of runtime error resilience already existing in software systems to handle unexpected errors. Ares's lightweight mechanism makes it practical and easy to be integrated into production environments. We have implemented Ares on top of both the Java HotSpot VM and Android ART, and applied it to 52 real-world bugs. The results are promising — Ares successfully recovers from 39 of them and incurs low overhead. Basic Issues in Error Detection and Recovery.- Multi-Step Strategies.- Planning Sensing and Motion for a Mobile Robot.- Implementation, Computational Issues.- Conclusions. The problem of cross-modal retrieval, e.g., using a text query to search for images and vice-versa, is considered in this paper. A novel model involving correspondence autoencoder (Corr-AE) is proposed here for solving this problem. The model is constructed by correlating hidden representations of two uni-modal autoencoders. A novel optimal objective, which minimizes a linear combination of representation learning errors for each modality and correlation learning error between hidden representations of two modalities, is used to train the model as a whole. Minimization of correlation learning error forces the model to learn hidden representations with only common information in different modalities, while minimization of representation learning error makes hidden representations are good enough to reconstruct input of each modality. A parameter @math is used to balance the representation learning error and the correlation learning error. Based on two different multi-modal autoencoders, Corr-AE is extended to other two correspondence models, here we called Corr-Cross-AE and Corr-Full-AE. The proposed models are evaluated on three publicly available data sets from real scenes. We demonstrate that the three correspondence autoencoders perform significantly better than three canonical correlation analysis based models and two popular multi-modal deep models on cross-modal retrieval tasks. This paper presents the application of a Bayesian nonparametric time-series model to process monitoring and fault classification for industrial robotic tasks. By means of an alignment task performed with a real robot, we show how the proposed approach allows to learn a set of sensor signature models encoding the spatial and temporal correlations among wrench measurements recorded during a number of successful task executions. Using these models, it is possible to detect continuously and on-line deviations from the expected sensor readings. Separate models are learned for a set of possible error scenarios involving a human modifying the workspace configuration. These non-nominal task executions are correctly detected and classified with an on-line algorithm, which opens the possibility for the development of error-specific recovery strategies. Our work is complementary to previous approaches in robotics, where process monitors based on probabilistic models, but limited to contact events, were developed for control purposes. Instead, in this paper we focus on capturing dynamic models of sensor signatures throughout the whole task, therefore allowing continuous monitoring and extending the system ability to interpret and react to errors.