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Hierarchical learning of robotic contact policies
Mihael Simonič, Aleš Ude, Bojan Nemec, 2023, izvirni znanstveni članek

Povzetek: The paper addresses the issue of learning tasks where a robot maintains permanent contact with the environment. We propose a new methodology based on a hierarchical learning scheme coupled with task representation through directed graphs. These graphs are constituted of nodes and branches that correspond to the states and robotic actions, respectively. The upper level of the hierarchy essentially operates as a decision-making algorithm. It leverages reinforcement learning (RL) techniques to facilitate optimal decision-making. The actions are generated by a constraint-space following (CSF) controller that autonomously identifies feasible directions for motion. The controller generates robot motion by adjusting its stiffness in the direction defined by the Frenet–Serret frame, which is aligned with the robot path. The proposed framework was experimentally verified through a series of challenging robotic tasks such as maze learning, door opening, learning to shift the manual car gear, and learning car license plate light assembly by disassembly.
Ključne besede: autonomous robot learning, learning, experience, compliance and impedance contro
Objavljeno v DiRROS: 21.09.2023; Ogledov: 20; Prenosov: 16
.pdf Celotno besedilo (1,73 MB)
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Algorithm instance footprint : separating easily solvable and challenging problem instances
Ana Nikolikj, Sašo Džeroski, Mario Andrés Muñoz, Carola Doerr, Peter Korošec, Tome Eftimov, 2023, objavljeni znanstveni prispevek na konferenci

Ključne besede: black-box optimization, algorithms, problem instances, machine learning
Objavljeno v DiRROS: 15.09.2023; Ogledov: 31; Prenosov: 21
.pdf Celotno besedilo (2,03 MB)
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Assessing the generalizability of a performance predictive model
Ana Nikolikj, Gjorgjina Cenikj, Gordana Ispirova, Diederick Vermetten, Ryan Dieter Lang, Andries Petrus Engelbrecht, Carola Doerr, Peter Korošec, Tome Eftimov, 2023, objavljeni znanstveni prispevek na konferenci

Ključne besede: algorithms, predictive models, machine learning
Objavljeno v DiRROS: 15.09.2023; Ogledov: 37; Prenosov: 25
.pdf Celotno besedilo (935,67 KB)
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Optimal sensor set for decoding motor imagery from EEG
Arnau Dillen, Fakhreddine Ghaffari, Olivier Romain, Bram Vanderborght, Uroš Marušič, Sidney Grosprêtre, Ann Nowé, Romain Meeusen, Kevin De Pauw, 2023, izvirni znanstveni članek

Povzetek: Brain–computer interfaces (BCIs) have the potential to enable individuals to interact with devices by detecting their intention from brain activity. A common approach to BCI is to decode movement intention from motor imagery (MI), the mental representation of an overt action. However, research-grade electroencephalogram (EEG) acquisition devices with a high number of sensors are typically necessary to achieve the spatial resolution required for reliable analysis. This entails high monetary and computational costs that make these approaches impractical for everyday use. This study investigates the trade-off between accuracy and complexity when decoding MI from fewer EEG sensors. Data were acquired from 15 healthy participants performing MI with a 64-channel research-grade EEG device. After performing a quality assessment by identifying visually evoked potentials, several decoding pipelines were trained on these data using different subsets of electrode locations. No significant differences (p = [0.18–0.91]) in the average decoding accuracy were found when using a reduced number of sensors. Therefore, decoding MI from a limited number of sensors is feasible. Hence, using commercial sensor devices for this purpose should be attainable, reducing both monetary and computational costs for BCI control.
Ključne besede: brain-computer interface, motor imagery, feature reduction, electroencephalogram, machine learning
Objavljeno v DiRROS: 03.04.2023; Ogledov: 232; Prenosov: 81
.pdf Celotno besedilo (670,67 KB)
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Having fun while learning, SKI EASY Snow day : 1st SKI EASY multiplier sport event, Pamporovo, Bulgaria, 14-16 March 2022
Saša Pišot, 2022, drugi sestavni deli

Ključne besede: skiing, training, learning, projects, Snow day
Objavljeno v DiRROS: 03.03.2023; Ogledov: 185; Prenosov: 93
.pdf Celotno besedilo (742,79 KB)
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On the influence of aging on classification performance in the visual EEG oddball paradigm using statistical and temporal features
Nina Omejc, Manca Peskar, Aleksandar Miladinović, Voyko Kavcic, Sašo Džeroski, Uroš Marušič, 2023, izvirni znanstveni članek

Povzetek: The utilization of a non-invasive electroencephalogram (EEG) as an input sensor is a common approach in the field of the brain–computer interfaces (BCI). However, the collected EEG data pose many challenges, one of which may be the age-related variability of event-related potentials (ERPs), which are often used as primary EEG BCI signal features. To assess the potential effects of aging, a sample of 27 young and 43 older healthy individuals participated in a visual oddball study, in which they passively viewed frequent stimuli among randomly occurring rare stimuli while being recorded with a 32-channel EEG set. Two types of EEG datasets were created to train the classifiers, one consisting of amplitude and spectral features in time and another with extracted time-independent statistical ERP features. Among the nine classifiers tested, linear classifiers performed best. Furthermore, we show that classification performance differs between dataset types. When temporal features were used, maximum individuals’ performance scores were higher, had lower variance, and were less affected overall by within-class differences such as age. Finally, we found that the effect of aging on classification performance depends on the classifier and its internal feature ranking. Accordingly, performance will differ if the model favors features with large within-class differences. With this in mind, care must be taken in feature extraction and selection to find the correct features and consequently avoid potential age-related performance degradation in practice.
Ključne besede: aging, elderly, machine learning, visual oddball study, brain-computer interface
Objavljeno v DiRROS: 01.02.2023; Ogledov: 190; Prenosov: 95
.pdf Celotno besedilo (3,50 MB)
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A data-driven machine learning approach for brain-computer interfaces targeting lower limb neuroprosthetics
Arnau Dillen, Elke Lathouwers, Aleksandar Miladinović, Uroš Marušič, Fakhreddine Ghaffari, Olivier Romain, Romain Meeusen, Kevin De Pauw, 2022, izvirni znanstveni članek

Povzetek: Prosthetic devices that replace a lost limb have become increasingly performant in recent years. Recent advances in both software and hardware allow for the decoding of electroencephalogram (EEG) signals to improve the control of active prostheses with brain-computer interfaces (BCI). Most BCI research is focused on the upper body. Although BCI research for the lower extremities has increased in recent years, there are still gaps in our knowledge of the neural patterns associated with lower limb movement. Therefore, the main objective of this study is to show the feasibility of decoding lower limb movements from EEG data recordings. The second aim is to investigate whether well-known neuroplastic adaptations in individuals with an amputation have an influence on decoding performance. To address this, we collected data from multiple individuals with lower limb amputation and a matched able-bodied control group. Using these data, we trained and evaluated common BCI methods that have already been proven effective for upper limb BCI. With an average test decoding accuracy of 84% for both groups, our results show that it is possible to discriminate different lower extremity movements using EEG data with good accuracy. There are no significant differences (p = 0.99) in the decoding performance of these movements between healthy subjects and subjects with lower extremity amputation. These results show the feasibility of using BCI for lower limb prosthesis control and indicate that decoding performance is not influenced by neuroplasticity-induced differences between the two groups.
Ključne besede: neuroprosthetics, brain-computer interface, machine learning, electroencephalography, data-driven learning, lower limb amputation
Objavljeno v DiRROS: 21.07.2022; Ogledov: 328; Prenosov: 216
.pdf Celotno besedilo (858,15 KB)
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