Murray: htdb2wiki: creating page for 2010g_cm10-wafr.html

2016-05-15T06:16:18Z

htdb2wiki: creating page for 2010g_cm10-wafr.html

← Older revision		Revision as of 06:16, 15 May 2016
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	{{HTDB paper		{{HTDB paper
	\| authors = Andrea Censi ~~and~~ Richard M. Murray		\| authors = Andrea Censi, Richard M Murray
	\| title = Bootstrapping bilinear models of robotic sensorimotor cascades		\| title = Bootstrapping bilinear models of robotic sensorimotor cascades
	\| source = ~~2011 International Conference~~ on Robotics ~~and Automation~~ (~~ICRA~~)		\| source = Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010 (Submitted)
	\| year = 2010		\| year = 2010
	\| type = ~~Conference Paper~~		\| type = Preprint
	\| funding = ~~NSF CPS~~		\| funding =
	\| url = http://www.cds.caltech.edu/~murray/preprints/~~cm11~~-~~icra~~.pdf		\| url = http://www.cds.caltech.edu/~murray/preprints/cm10-wafr_s.pdf
	\| abstract =		\| abstract = We consider the bootstrapping problem, which consists in learning a model of the agent's sensors and actuators starting from zero prior informa- tion, and we take the problem of servoing as a cross-modal task to validate the learned models. We study the class of sensors with bilinear dynamics, for which the derivative of the observations is a bilinear form of the control commands and the observations themselves. This class of models is simple, yet general enough to represent the main phenomena of three representative sensors (field sampler, camera, and range-finder), apparently very different from one another. It also allows a bootstrapping algorithm based on Hebbian learning, and a simple bioplausible control strategy. The convergence proper- ties of learning and control are demonstrated with extensive simulations and by analytical arguments.
	We consider the bootstrapping problem, which ~~con- sists~~ in learning a model of the ~~agentâs~~ sensors and actuators starting from zero prior ~~information~~, and we take the problem of servoing as a cross-modal task to validate the learned models. We study the class of sensors with bilinear dynamics, for which the derivative of the observations is a bilinear form of the control commands and the observations themselves. This class of models is simple, yet general enough to represent the main phenomena of three representative sensors (field sampler, camera, and range- finder), apparently very different from one another. It also allows a bootstrapping algorithm based on Hebbian learning, and a ~~sim- ple~~ bioplausible control strategy. The convergence ~~properties~~ of learning and control are demonstrated with extensive simulations and by analytical arguments.
	\| flags =		\| flags =
	\| tag = ~~cm11~~-~~icra~~		\| tag = cm10-wafr
	\| id = ~~2010o~~		\| id = 2010g
	}}		}}

Murray: htdb2wiki: creating page for 2010o_cm11-icra.html

2016-05-15T06:16:11Z

htdb2wiki: creating page for 2010o_cm11-icra.html

New page

{{HTDB paper
| authors = Andrea Censi and Richard M. Murray
| title = Bootstrapping bilinear models of robotic sensorimotor cascades
| source = 2011 International Conference on Robotics and Automation (ICRA)
| year = 2010
| type = Conference Paper
| funding = NSF CPS
| url = http://www.cds.caltech.edu/~murray/preprints/cm11-icra.pdf
| abstract =
We consider the bootstrapping problem, which con- sists in learning a model of the agentâs sensors and actuators starting from zero prior information, and we take the problem of servoing as a cross-modal task to validate the learned models. We study the class of sensors with bilinear dynamics, for which the derivative of the observations is a bilinear form of the control commands and the observations themselves. This class of models is simple, yet general enough to represent the main phenomena of three representative sensors (field sampler, camera, and range- finder), apparently very different from one another. It also allows a bootstrapping algorithm based on Hebbian learning, and a sim- ple bioplausible control strategy. The convergence properties of learning and control are demonstrated with extensive simulations and by analytical arguments.
| flags =
| tag = cm11-icra
| id = 2010o
}}

Bootstrapping bilinear models of robotic sensorimotor cascades - Revision history

Murray: htdb2wiki: creating page for 2010g_cm10-wafr.html

Murray: htdb2wiki: creating page for 2010o_cm11-icra.html