Interactive Bayesian identification of kinematic mechanisms

@article{Barragan2014InteractiveBI,
  title={Interactive Bayesian identification of kinematic mechanisms},
  author={Patrick R. Barragan and Leslie Pack Kaelbling and Tom{\'a}s Lozano-P{\'e}rez},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={2013-2020}
}
This paper addresses the problem of identifying mechanisms based on data gathered while interacting with them. We present a decision-theoretic formulation of this problem, using Bayesian filtering techniques to maintain a distributional estimate of the mechanism type and parameters. In order to reduce the amount of interaction required to arrive at a confident identification, we select actions explicitly to reduce entropy in the current estimate. We demonstrate the approach on a domain with… CONTINUE READING

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