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1. Flexible Robot to Object Interactions Through Rigid and Deformable Cages
Sammanfattning : In this thesis we study the problem of robotic interaction with objects from a flexible perspective that complements the rigid force-closure approach. In a flexible interaction the object is not firmly bound to the robot (immobilized), which leads to many interesting scenarios. LÄS MER
2. Interactive Perception : From Scenes to Objects
Sammanfattning : This thesis builds on the observation that robots, like humans, do not have enough experience to handle all situations from the start. Therefore they need tools to cope with new situations, unknown scenes and unknown objects. In particular, this thesis addresses objects. LÄS MER
3. Towards Automatically Correcting Robot Behavior Using Non-Expert Feedback
Sammanfattning : Robots that operate in human environments need the capability to adapt their behavior to new situations. Most robots so far rely on pre-programmed behavior or machine learning algorithms trained offline with selected data. LÄS MER
4. Reinforcement Learning for Active Visual Perception
Sammanfattning : Visual perception refers to automatically recognizing, detecting, or otherwise sensing the content of an image, video or scene. The most common contemporary approach to tackle a visual perception task is by training a deep neural network on a pre-existing dataset which provides examples of task success and failure, respectively. LÄS MER
5. Force-based Perception and Control Strategies for Human-Robot Shared Object Manipulation
Sammanfattning : Physical Human-Robot Interaction (PHRI) is essential for the future integration of robots in human-centered environments. In these settings, robots are expected to share the same workspace, interact physically, and collaborate with humans to achieve a common task. LÄS MER