Call
for Participation
ROBOTICS 2005 Workshop on Modular Foundations for Control and Perception
in conjunction with Robotics:
Science and Systems Conference 2005
Massachusetts Institute of Technology, Cambridge, MA, USA
June 11, 2005
Advances in the field of robotics have begun to realize
sophisticated robotic platforms with increasingly richer sensing
requirements. In addition to increasing robot functionality, robotics
researchers also strive towards increasing the accessibility of robot
control to greater segments of society. The balancing of greater robot
functionality versus greater robot accessibility can be difficult. In
addressing these issues, greater emphasis has been placed towards creating
and building upon basic modular components. Using neuroscience and biology
as inspiration, such modules reduce of the complexity of the control and
sensing interfaces while providing necessary functionality.
More specifically, we consider a module (or "primitive" or "behavior") to
encodes a link between perception and motor control. This link furthers the
computational process that enables a robot to achieve or maintain
certain goals. A basis set of such primitives is sufficient, through various
combination operators, for generating the entire movement/activity
repertoire of a robot. As a consequence the development, learning and
utilization of such primitives robot control has become an area of high
interest in high DOF systems (such as humanoids), learning by imitation or
demonstration and understanding of user activity or intent.
The workshop will explore modular foundations for robot control and
perception and will address three basic areas:
1) development and learning of modular primitives
2) utilization of modular foundations for both control and perception
3) utilization of known primitives for symbol grounding in higher level
methods
9:00-9:25 | Chad Jenkins |
Introduction / Performance-Derived Behavior Vocabularies |
|
9:25-9:50 | Martin Giese |
Representation of Action Sequences by Linear Combination of Prototypes |
|
9:50-10:15 | Rod Grupen |
Deriving Intentions using a Control Basis |
|
10:15-10:30 | | Break |
|
10:30-10:55 | Auke Ijspeert |
Nonlinear Dynamical Systems for the Modular Control of Locomotion And Movement: Experiments With Pattern Generators |
|
10:55-11:20 |
Jan Peters / Stefan Schaal |
Learning Motor Primitives with Reinforcement Learning |
|
11:20-12:00 | | Poster Session |
|
12:00-1:30 | | Lunch |
|
1:30-1:55 |
Dana Ballard |
TBD |
|
1:55-2:20 | Monica Nicolescu |
Learning from Demonstration. Generalization and Feedback Using Existing
Primitive Skills |
|
2:20-2:45 | Darrin
Bentivegna | Combining Local and Global Features to Support Generalization and Learning from Practice |
[PPT] [Articles] |
2:45-3:15 | | Discussion / Break |
|
3:15-3:40 | Hiromu Onda |
Visualization and Simulation of Sensory Events as a Representation of States for Primitive Skills |
[PPT] [Articles] |
3:40-4:05 |
Emo Todorov |
From Task Parameters to Motor Synergies: A Hierarchical Approximation to Optimal Feedback Control of Redundant Systems |
|
4:05-4:30 |
Alan Peters |
TBD | |
4:30-5:00 | Jenkins, Nicolescu |
Discussion/Workshop Conclusion | |
Participation and Submission:
Submissions to this workshop can be extended abstracts (1-2 pages) or
technical papers (not exceeding 6 pages in length). Submissions should be
sent via email to Chad Jenkins (cjenkins[a-t]cs.brown.edu) and Monica Nicolescu (monica[a-t]cs.unr.edu) in PDF format. Submissions should identify
concepts and positions about the state-of-the-art and provide clarity to the
greater picture of modular perception and control. The workshop is open to
submissions addressing related topics in the form of research, applications,
position statements, or unifying surveys.
From these submissions, the workshop organizers will select presentations to
appear at the workshop. All accepted presentations will require a poster
presentation. Oral presentations will be selected from the set of accepted
submissions. If the papers are of sufficient quantity and quality, we will
seek to publish them as an edited book or journal special issue.