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research:projects [2018/09/07 11:29]
127.0.0.1 external edit
research:projects [2019/08/29 17:35] (current)
Justus Piater [Current Projects]
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 ===== Current Projects ===== ===== Current Projects =====
  
-{{:​research:​flexrop-logo.png?​nolink&​200 ||}}[[https://​www.profactor.at/​en/​research/​industrial-assistive-systems/​roboticassistance/​projects/​flexrop/​|FlexRoP - Flexible, assistive robot for customized production]] ​(FFG (Austria) ICT of the Future2016-2018): Production of mass customized products is not easy to automate since objects and object positions remain more uncertain compared ​to mass production scenariosUncertainty handling motivates ​the application ​of advanced sensor-based control strategies which increases system complexity ​of robot applications dramatically. A possible solution to this conflict ​is the concept of task level or skill based programming that will render modern robot systemsSuch systems can be applied ​without safety fenceare easier to program, more applicable ​and transformable into capable ​robot assistantsThe project will implement ​skill based programming framework ​and will apply it on selected industrial demo scenarios ​and evaluate research resultsThe main focus of the project is the application of methods ​to acquire process information by worker monitoring ​and thus make the robot assistants self-learning.+**OLIVER** ​Open-Ended Learning ​for Interactive Robots ​(EUREGIO IPN2019-2022): We would like to be able to teach robots to perform a great variety of tasks, including collaborative tasks, and tasks not specifically foreseen by its designers ​Thus, ​the space of potentially-important aspects ​of perception and action ​is by necessity extremely large, since every aspect may become important at some point in time ​Conventional machine learning methods cannot ​be directly ​applied ​in such unconstrained circumstancesas the training demands increase with the sizes of the input and output spaces. 
 +Thus, a central problem for the robot is to understand which aspects of a demonstrated action are crucial Such understanding allows ​robot to perform robustly even if the scenario ​and context change, to adapt its strategy, ​and to judge its successMoreover, it allows ​the robot to infer the human intent ​and task progress with respect to the goal, enabling it to share the task with humans, offer help or ask for help, resulting in natural human-robot cooperative behavior.
  
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-{{:​research:​imagine-transparent.png?​nolink&​200 ||}}[[https://​www.imagine-h2020.eu|IMAGINE - Robots Understanding Their Actions by Imagining Their Effects ]] (EU H2020, 2017-2020): seeks to enable robots to understand the structure of their environment and how it is affected by its actions. “Understanding” here means the ability of the robot (a) to determine the applicability of an action along with parameters to achieve the desired effect, and (b) to discern to what extent an action succeeded, and to infer possible causes of failure and generate recovery actions.+{{:​research:​imagine-transparent.png?​nolink&​200 ||}}[[https://​www.imagine-h2020.eu|IMAGINE - Robots Understanding Their Actions by Imagining Their Effects ]] (EU H2020, 2017-2021): seeks to enable robots to understand the structure of their environment and how it is affected by its actions. “Understanding” here means the ability of the robot (a) to determine the applicability of an action along with parameters to achieve the desired effect, and (b) to discern to what extent an action succeeded, and to infer possible causes of failure and generate recovery actions.
  
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 ===== Completed Projects (Selection) ===== ===== Completed Projects (Selection) =====
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 +{{:​research:​flexrop-logo.png?​nolink&​200 ||}}[[https://​www.profactor.at/​en/​research/​industrial-assistive-systems/​roboticassistance/​projects/​flexrop/​|FlexRoP - Flexible, assistive robot for customized production]] (FFG (Austria) ICT of the Future, 2016-2019): Production of mass customized products is not easy to automate since objects and object positions remain more uncertain compared to mass production scenarios. Uncertainty handling motivates the application of advanced sensor-based control strategies which increases system complexity of robot applications dramatically. A possible solution to this conflict is the concept of task level or skill based programming that will render modern robot systems. Such systems can be applied without safety fence, are easier to program, more applicable and transformable into capable robot assistants. The project will implement a skill based programming framework and will apply it on selected industrial demo scenarios and evaluate research results. The main focus of the project is the application of methods to acquire process information by worker monitoring and thus make the robot assistants self-learning.
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 {{:​research:​squirrel.png?​nolink&​200 |}}[[http://​www.squirrel-project.eu/​|SQUIRREL]] (EU FP7-ICT-STREP,​ 2014-2018): Clutter in an open world is a challenge for many aspects of robotic systems, especially for autonomous robots deployed in unstructured domestic settings, affecting navigation, manipulation,​ vision, human robot interaction and planning. ​ SQUIRREL addresses these issues by actively controlling clutter and incrementally learning to extend the robot'​s capabilities while doing so. We term this the B3 (bit by bit) approach, as the robot tackles clutter one bit at a time and also extends its knowledge continuously as new bits of information become available. ​ SQUIRREL is inspired by a user driven scenario, that exhibits all the rich complexity required to convincingly drive research, but allows tractable solutions with high potential for exploitation. We propose a toy cleaning scenario, where a robot learns to collect toys scattered in loose clumps or tangled heaps on the floor in a child'​s room, and to stow them in designated target locations. {{:​research:​squirrel.png?​nolink&​200 |}}[[http://​www.squirrel-project.eu/​|SQUIRREL]] (EU FP7-ICT-STREP,​ 2014-2018): Clutter in an open world is a challenge for many aspects of robotic systems, especially for autonomous robots deployed in unstructured domestic settings, affecting navigation, manipulation,​ vision, human robot interaction and planning. ​ SQUIRREL addresses these issues by actively controlling clutter and incrementally learning to extend the robot'​s capabilities while doing so. We term this the B3 (bit by bit) approach, as the robot tackles clutter one bit at a time and also extends its knowledge continuously as new bits of information become available. ​ SQUIRREL is inspired by a user driven scenario, that exhibits all the rich complexity required to convincingly drive research, but allows tractable solutions with high potential for exploitation. We propose a toy cleaning scenario, where a robot learns to collect toys scattered in loose clumps or tangled heaps on the floor in a child'​s room, and to stow them in designated target locations.
research/projects.1536312583.txt.gz · Last modified: 2018/09/07 11:29 by 127.0.0.1