We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g. for applications such as quality control in industrial manufacturing. The proposed method is easily programmed by kinesthetic teaching, and the desired adaptability and reusability are achieved by machine learning models. The primitive records sensory data during both demonstrations and reproductions of a movement. Recordings include the end-effector's Cartesian pose and exerted wrench at each time step. The collected data are then used to train Gaussian Processes which create models of the wrench as a function of the robot's pose. The similarity between the wrench models of the demonstration and the movement's reproduction is derived by measuring their Hellinger distance. This comparison creates features that are fed as inputs to a Naive Bayes classifier which estimates the movement's probability of success. The evaluation is performed on two diverse robotic assembly tasks -- snap-fitting and screwing -- with a total of 5 use cases, 11 demonstrations, and more than 200 movement executions. The performance metrics prove the proposed method's capability of generalization to different demonstrations and movements.
Rojas al @cite_3 identify key segments of the wrench signals and create a task-specific hierarchical taxonomy based on its time derivative. The task outcome is indicated by the states at the highest level of this taxonomy. However, the segmentation threshold is predefined, and the taxonomy associated with segments is manually created which significantly reduces its applicability to different tasks.
@cite_3
2002141059
Taxonomies, especially the ones in specific domains, are becoming indispensable to a growing number of applications. State-of-the-art approaches assume there exists a text corpus to accurately characterize the domain of interest, and that a taxonomy can be derived from the text corpus using information extraction techniques. In reality, neither assumption is valid, especially for highly focused or fast-changing domains. In this paper, we study a challenging problem: Deriving a taxonomy from a set of keyword phrases. A solution can benefit many real life applications because i) keywords give users the flexibility and ease to characterize a specific domain; and ii) in many applications, such as online advertisements, the domain of interest is already represented by a set of keywords. However, it is impossible to create a taxonomy out of a keyword set itself. We argue that additional knowledge and contexts are needed. To this end, we first use a general purpose knowledgebase and keyword search to supply the required knowledge and context. Then we develop a Bayesian approach to build a hierarchical taxonomy for a given set of keywords. We reduce the complexity of previous hierarchical clustering approaches from O(n2 log n) to O(n log n), so that we can derive a domain specific taxonomy from one million keyword phrases in less than an hour. Finally, we conduct comprehensive large scale experiments to show the effectiveness and efficiency of our approach. A real life example of building an insurance-related query taxonomy illustrates the usefulness of our approach for specific domains.