首页|Reports on Robotics from Nanyang Technological University Provide New Insights ( Shared Autonomy of a Robotic Manipulator for Grasping Under Human Intent Uncerta inty Using Pomdps)
Reports on Robotics from Nanyang Technological University Provide New Insights ( Shared Autonomy of a Robotic Manipulator for Grasping Under Human Intent Uncerta inty Using Pomdps)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Fresh data on Robotics are presented i n a new report. According to news reporting originating in Singapore, Singapore, by NewsRx journalists, research stated, "In shared autonomy (SA), accurate user intent prediction is crucial for good robot assistance and avoiding user-robot conflicts. Prior works have relied on passive observation of joystick inputs to predict user intent, which works when the goals are clearly separated or when a common policy exists for multiple goals." Financial support for this research came from Agency for Science Technology & Research (A*STAR).The news reporters obtained a quote from the research from Nanyang Technological University, "However, they may not work well when grasping objects to perform d aily activities, as there are multiple ways to grasp the same object. We demonst rate the need for active information-gathering in such cases and show how this c an be done in a principled manner by formulating SA as a discrete action partial ly observable Markov decision process (POMDP), reasoning over high-level actions . One of our insights is that apart from having explicit information-gathering a ctions and goal-oriented actions, it is important to have actions that move towa rd a distribution of goals and provide no assistance in the POMDP action space."
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