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Bootstrapping bilinear models of simple vehicles 
Abstract 
Learning and adaptivity will play a large … Learning and adaptivity will play a large role in robotics in the future, as robots move from structured to unstructured environments that cannot be fully predicted or understood by the designer. Two questions that are open: 1) in principle, how much it is possible to learn; and, 2) in practice, how much we should learn. The bootstrapping scenario describes the extremum case where agents need to learn âeverythingâ from scratch, including a torquetopixels models for its robotic body. Systems with such capabilities will be advantaged in terms of being resilient to unforeseen changes and deviations from prior assumptions. This paper considers the bootstrapping problem for a subset of the set of all robots: the Vehicles, inspired by Braitenbergâs work, are idealization of mobile robots equipped with a set of âcanonicalâ exteroceptive sensors (camera; range finder; fieldsampler). Their sensellevel dynamics are derived and shown to be surprising close. We define the class of BDS models, which assume an instantaneous bilinear dynamics between observations and commands, and derive streamingbased bilinear strategies for them. We show in what sense the BDS dynamics approximates the set of Vehicles to guarantee success in the task of generalized servoing: driving the observations to a given goal snapshot. Simulations and experiments substantiate the theoretical results. This is the first instance of a bootstrapping agent that can learn the dynamics of a relatively large universe of systems, and use the models to solve welldefined tasks, with no parameter tuning or handdesigned features. arameter tuning or handdesigned features. +


Authors  Andrea Censi and Richard M. Murray + 
ID  2013q + 
Source  Submitted, International Journal of Robotics Research (IJRR), Dec 2013 + 
Tag  cm13ijrr + 
Title  Bootstrapping bilinear models of simple vehicles + 
Type  Journal submission + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:14:59 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/cm13ijrr_s.pdf + 
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Bootstrapping bilinear models of simple vehicles +  Title 
