Machine Learning is the study of methods for programming computers to learn. Computers are applied to a wide range of tasks, and for most of these it is relatively easy for programmers to design and implement the necessary software. However, there are many tasks for which this is difficult or impossible. These can be divided into four general categories. First, there are problems for which there exist no human experts. For example, in modern automated manufacturing facilities, there is a need to predict machine failures before they occur by analyzing sensor readings. Because the machines are new, there are no human experts who can be interviewed by a programmer to provide the knowledge necessary to build a computer system. A machine learning system can study recorded data and subsequent machine failures and learn prediction rules. Second, there are problems where human experts exist, but where they are unable to explain their expertise. This is the case in many perceptual tasks, such as speech recognition, hand-writing recognition, and natural language understanding. Virtually all humans exhibit expert-level abilities on these tasks, but none of them can describe the detailed steps that they follow as they perform them. Fortunately, humans can provide machines with examples of the inputs and correct outputs for these tasks, so machine learning algorithms can learn to map the inputs to the outputs. Third, there are problems where phenomena are changing rapidly. In finance, for example, people would like to predict the future behavior of the stock market, of consumer purchases, or of exchange rates. These behaviors change frequently, so that even if a programmer could construct a good predictive computer program, it would need to be rewritten frequently. A learning program can relieve the programmer of this burden by constantly modifying and tuning a set of learned prediction rules. Fourth, there are applications that need to be customized for each computer user separately. Consider, for example, a program to filter unwanted electronic mail messages. Different users will need different filters. It is unreasonable to expect each user to program his or her own rules, and it is infeasible to provide every user with a software engineer to keep the rules up-to-date. A machine learning system can learn which mail messages the user rejects and maintain the filtering rules automatically. Machine learning addresses many of the same research questions as the fields of statistics, data mining, and psychology, but with differences of emphasis. Statistics focuses on understanding the phenomena that have generated the data, often with the goal of testing different hypotheses about those phenomena. Data mining seeks to find patterns in the data that are understandable by people. Psychological studies of human learning aspire to understand the mechanisms underlying the various learning behaviors exhibited by people (concept learning, skill acquisition, strategy change, etc.).

Machine learning

A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

http://ieeexplore.ieee.org/iel2/815/3148/00100651.pdf

Robot vision

Supervised classification is one of the tasks most frequently carried out by so-called Intelligent Systems. Thus, a large number of techniques have been developed based on Artificial Intelligence (Logic-based techniques, Perceptron-based techniques) and Statistics (Bayesian Networks, Instance-based techniques). The goal of supervised learning is to build a concise model of the distribution of class labels in terms of predictor features. The resulting classifier is then used to assign class labels to the testing instances where the values of the predictor features are known, but the value of the class label is unknown. This paper describes various classification algorithms and the recent attempt for improving classification accuracy--ensembles of classifiers.

/pdf/machine-learning-a-review-of-classification-and-combining-1633dmcgns.pdf

Machine learning: a review of classification and combining techniques

Environment models serve as important resources for an autonomous robot by providing it with the necessary task-relevant information about its habitat. Their use enables robots to perform their tasks more reliably, flexibly, and efficiently. As autonomous robotic platforms get more sophisticated manipulation capabilities, they also need more expressive and comprehensive environment models: for manipulation purposes their models have to include the objects present in the world, together with their position, form, and other aspects, as well as an interpretation of these objects with respect to the robot tasks. The dissertation presented in this article (Rusu, PhD thesis, 2009) proposes Semantic 3D Object Models as a novel representation of the robot’s operating environment that satisfies these requirements and shows how these models can be automatically acquired from dense 3D range data.

/pdf/semantic-3d-object-maps-for-everyday-manipulation-in-human-van9xaq8u7.pdf

Semantic 3D Object Maps for Everyday Manipulation in Human Living Environments

The nearest neighbor classifier is one of the most used and well-known techniques for performing recognition tasks. It has also demonstrated itself to be one of the most useful algorithms in data mining in spite of its simplicity. However, the nearest neighbor classifier suffers from several drawbacks such as high storage requirements, low efficiency in classification response, and low noise tolerance. These weaknesses have been the subject of study for many researchers and many solutions have been proposed. Among them, one of the most promising solutions consists of reducing the data used for establishing a classification rule (training data) by means of selecting relevant prototypes. Many prototype selection methods exist in the literature and the research in this area is still advancing. Different properties could be observed in the definition of them, but no formal categorization has been established yet. This paper provides a survey of the prototype selection methods proposed in the literature from a theoretical and empirical point of view. Considering a theoretical point of view, we propose a taxonomy based on the main characteristics presented in prototype selection and we analyze their advantages and drawbacks. Empirically, we conduct an experimental study involving different sizes of data sets for measuring their performance in terms of accuracy, reduction capabilities, and runtime. The results obtained by all the methods studied have been verified by nonparametric statistical tests. Several remarks, guidelines, and recommendations are made for the use of prototype selection for nearest neighbor classification.

/pdf/prototype-selection-for-nearest-neighbor-classification-3c75s4xkiz.pdf

Prototype Selection for Nearest Neighbor Classification: Taxonomy and Empirical Study

On the use of Bayesian Networks to develop behaviours for mobile robots

The Transjugular Intrahepatic Portosystemic Shunt (TIPS) is an interventional treatment for cirrhotic patients with portal hypertension. In the light of our medical staff's experience, the consequences of TIPS are not homogeneous for all the patients and a subgroup dies in the first six months after TIPS placement. An investigation for predicting the conduct of cirrhotic patients treated with TIPS is carried out using a clinical database with 107 cases and 77 attributes. We have applied a new Estimation of Distribution Algorithms based approach in order to perform a Prototype and Feature Subset Selection to improve the classification accuracy obtained using all the variables and all the cases. Used paradigms are K-Nearest Neighbours, Artificial Neural Networks and Classification Trees.

Prototype Selection and Feature Subset Selection by Estimation of Distribution Algorithms. A Case Study in the Survival of Cirrhotic Patients Treated with TIPS

Programming robots to perform complex tasks is a very expensive job. Traditional path planning and control are able to generate point to point collision free trajectories, but when the tasks to be performed are complex, traditional planning and control become complex tasks. This study focused on robotic operations in logistics, specifically, on picking objects in unstructured areas using a mobile manipulator configuration. The mobile manipulator has to be able to place its base in a correct place so the arm is able to plan a trajectory up to an object in a table. A deep reinforcement learning (DRL) approach was selected to solve this type of complex control tasks. Using the arm planner’s feedback, a controller for the robot base is learned, which guides the platform to such a place where the arm is able to plan a trajectory up to the object. In addition the performance of two DRL algorithms ((Deep Deterministic Policy Gradient (DDPG)) and (Proximal Policy Optimisation (PPO)) is compared within the context of a concrete robotic task.

https://www.mdpi.com/2076-3417/9/2/348/pdf

Pick and Place Operations in Logistics Using a Mobile Manipulator Controlled with Deep Reinforcement Learning

Learning to traverse doors using visual information

The work presented here proposes two different ROS packages to enrich the teleoperation of the robot NAO: speech-based teleoperation (in Basque) and gesture-based teleoperation together with arm control. These packages have been used and evaluated in a human mimicking experiment. The tools offered can serve as a base for many applications.

Elena Lazkano

Papers

On the use of Bayesian Networks to develop behaviours for mobile robots

Prototype Selection and Feature Subset Selection by Estimation of Distribution Algorithms. A Case Study in the Survival of Cirrhotic Patients Treated with TIPS

Pick and Place Operations in Logistics Using a Mobile Manipulator Controlled with Deep Reinforcement Learning

Learning to traverse doors using visual information

Humanizing NAO robot teleoperation using ROS