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Planning and Moving in Dynamic Environments: A statistical machine learning approach 

Vijayakumar, Sethu; Toussaint, Marc; Petkos, Georgios; Howard, Matthew (Springer-Verlag, 2009)
In this chapter, we develop a new view on problems of movement control and planning from a Machine Learning perspective. In this view, decision making, control, and planning are all considered as an inference or (alternately) ...

A Computational Model of Limb Impedance Control Based on Principles of Internal Model Uncertainty 

Mitrovic, Djordje; Klanke, Stefan; Osu, Rieko; Kawato, Mitsuo; Vijayakumar, Sethu (PLoS, 2010-10)
Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is ...

Methods for Learning Control Policies from Variable Constraint Demonstrations 

Howard, Matthew; Klanke, Stefan; Gienger, Michael; Goerick, Christian; Vijayakumar, Sethu (Springer-Verlag, 2010)
Many everyday human skills can be framed in terms of performing some task subject to constraints imposed by the task or the environment. Constraints are usually not observable and frequently change between contexts. In ...

Latent Spaces for Dynamic Movement Primitives 

Bitzer, Sebastian; Vijayakumar, Sethu (2009)
Dynamic movement primitives (DMPs) have been proposed as a powerful, robust and adaptive tool for planning robot trajectories based on demonstrated example movements. Adaptation of DMPs to new task requirements becomes ...

Active sequential learning with tactile feedback 

Saal, Hannes; Ting, Jo-Anne; Vijayakumar, Sethu (2010)
We consider the problem of tactile discrimination, with the goal of estimating an underlying state parameter in a sequential setting. If the data is continuous and high- dimensional, collecting enough representative data ...

2D Shape Classification and Retrieval 

McNeill, Graham; Vijayakumar, Sethu (Professional Book Center, 2005-07)
We present a novel correspondence-based technique for efficient shape classification and retrieval. Shape boundaries are described by a set of (ad hoc) equally spaced points avoiding the need to extract landmark points. ...

Active Filtering for Robot Tactile Learning 

Saal, Hannes; Ting, Jo-Anne; Vijayakumar, Sethu (2009)

Interactions between sensory and motor components of adaptation predicted by a Bayesian model 

Haith, Adrian; Jackson, Carl; Miall, Chris; Vijayakumar, Sethu (2008)

A Closed Loop Prosthetic Hand as a Model Sensorimotor Circuit 

Saunders, Ian; Vijayakumar, Sethu (2009)
We present a novel manipulandum for understanding the sensorimotor processes involved in object grasping. We have developed a closed-loop prosthetic hand, with 2 degrees of control and 32 channels of vibrotactile feedback ...

Robust Constraint-consistent Learning 

Howard, Matthew; Klanke, Stefan; Gienger, Michael; Goerick, Christian; Vijayakumar, Sethu (2009)
Many everyday human skills can be framed in terms of performing some task subject to constraints imposed by the environment. Constraints are usually unobservable and frequently change between contexts. In this paper, ...
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Vijayakumar, Sethu (59)
Klanke, Stefan (17)Howard, Matthew (12)Schaal, Stefan (11)Gienger, Michael (7)Goerick, Christian (7)Mitrovic, Djordje (7)Haith, Adrian (6)Saal, Hannes (6)Ting, Jo-Anne (6)... View MoreSubjectInformatics (30)Computer Science (22)Robotics (11)Reinforcement learning (2)Value function approximation (2)VOR (2)adaptive control (1)Adaptive optimal control (1)Backfitting (1)C (1)... View MoreDate Issued2008 (16)2009 (16)2010 (9)2006 (5)2005 (4)2007 (4)2004 (2)2011 (2)2003 (1)Has File(s)Yes (59)

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