Publications

by Keyword: Avoidance


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Puigbò, J. Y., Arsiwalla, X. D., Verschure, P., (2018). Challenges of machine learning for living machines Biomimetic and Biohybrid Systems 7th International Conference, Living Machines 2018 (Lecture Notes in Computer Science) , Springer International Publishing (Paris, France) 10928, 382-386

Machine Learning algorithms (and in particular Reinforcement Learning (RL)) have proved very successful in recent years. These have managed to achieve super-human performance in many different tasks, from video-games to board-games and complex cognitive tasks such as path-planning or Theory of Mind (ToM) on artificial agents. Nonetheless, this super-human performance is also super-artificial. Despite some metrics are better than what a human can achieve (i.e. cumulative reward), in less common metrics (i.e. time to learning asymptote) the performance is significantly worse. Moreover, the means by which those are achieved fail to extend our understanding of the human or mammal brain. Moreover, most approaches used are based on black-box optimization, making any comparison beyond performance (e.g. at the architectural level) difficult. In this position paper, we review the origins of reinforcement learning and propose its extension with models of learning derived from fear and avoidance behaviors. We argue that avoidance-based mechanisms are required when training on embodied, situated systems to ensure fast and safe convergence and potentially overcome some of the current limitations of the RL paradigm.

Keywords: Avoidance, Neural networks, Reinforcement learning


Hernansanz, A., Amat, J., Casals, A., (2012). Virtual Robot: A new teleoperation paradigm for minimally invasive robotic surgery IEEE Conference Publications 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) , IEEE (Roma, Italy) , 749-754

This paper presents a novel teleoperation paradigm, the Virtual Robot (VR), focused on facilitating the surgeon tasks in minimally invasive robotic surgery. The VR has been conceived to increase the range of applicability of traditional master slave teleoperation architectures by means of an automatic cooperative behavior that assigns the execution of the ongoing task to the most suitable robot. From the user's point of view, the VR internal operation must be automatic and transparent. A set of evaluation indexes have been developed to obtain the suitability of each robot as well as an algorithm to determine the optimal instant of time to execute a task transfer. Several experiments demonstrate the usefulness of the VR, as well as indicates the next steps of the research.

Keywords: Cameras, Collision avoidance, Indexes, Joints, Robots, Surgery, Trajectory, Medical robotics, Surgery, Telerobotics, VR internal operation, Automatic cooperative behavior, Evaluation indexes, Master slave teleoperation architectures, Minimally invasive robotic surgery, Task transfer, Virtual robot