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Whereas vision and force feedback—either at the wrist or at the joint level—for robotic manipulation purposes has received considerable attention in the literature, the benefits that tactile sensors can provide when combined with vision and force have been rarely explored.
This work introduces a self-supervised architecture for robust classification of moving obstacles in urban environments. Our approach presents a hierarchical scheme that relies on the stability of a subset of features given by a sensor to perform an initial robust classification based on...
In this article, we present a novel approach to learning efficient navigation policies for mobile robots that use visual features for localization. As fast movements of a mobile robot typically introduce inherent motion blur in the acquired images, the uncertainty of the robot about its pose...
We present several algorithms that aim to advance the state-of-the-art in reinforcement learning and planning algorithms. One key idea is to transfer knowledge across problems by representing it using local features. This idea is used to speed up a dynamic programming based generalized policy...
Active snake contours and Kohonen’s self-organizing feature maps (SOMs) are employed for representing and evaluating discrete point maps of indoor environments efficiently and compactly. A generic error criterion is developed for comparing two different sets of points based on the Euclidean...
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