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arXiv 1809.06148cs.LGcs.RO
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基于循环神经网络的动力学估计

Dynamics Estimation Using Recurrent Neural Network

University of South Florida(南佛罗里达大学)

Astha Sharma

摘要:

在机器人领域有大量的研究正在进行。其中最重要的任务之一是运动过程中响应的动态估计。这项研究课题的主要应用之一是倾倒的任务,这是每天进行的,通常在烹饪时使用。我们提出了一种方法来估计一系列的操作动作的反应。我们正在试验倾倒运动,反应是倒杯中水量的变化。浇注运动由旋转角度表示,水量由其重量表示。我们使用递归神经网络建立神经网络模型,对代表1307个浇注轨迹的序列进行训练。该模型在浇注和接收杯尺寸方面与训练数据没有太大差异的不可见测试数据上给出了很好的结果。利用该测试数据获得的损失为4.5920。当我们提供的测试集的杯的尺寸与训练数据中的杯的尺寸非常不同时,该模型在泛化实验中没有给出良好的结果。

英文摘要:

There is a plenty of research going on in field of robotics. One of the most important task is dynamic estimation of response during motion. One of the main applications of this research topics is the task of pouring, which is performed daily and is commonly used while cooking. We present an approach to estimate response to a sequence of manipulation actions. We are experimenting with pouring motion and the response is the change of the amount of water in the pouring cup. The pouring motion is represented by rotation angle and the amount of water is represented by its weight. We are using recurrent neural networks for building the neural network model to train on sequences which represents 1307 trails of pouring. The model gives great results on unseen test data which does not too different with training data in terms of dimensions of the cup used for pouring and receiving. The loss obtained with this test data is 4.5920. The model does not give good results on generalization experiments when we provide a test set which has dimensions of the cup very different from those in training data.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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