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Title:Active sequential learning with tactile feedback
Authors: Hannes Saal ; Jo-Anne Ting ; Sethu Vijayakumar
Date:May 2010
Publication Title:Proc. 13th Int. Conf. on Artificial Intelligence and Statistics (AISTATS) 2010, JMLR: W&CP
Publication Type:Conference Paper Publication Status:Published
Volume No:9 Page Nos:677-684
We consider the problem of tactile discrimination, with the goal of estimating an underlying state parameter in a sequential setting. If the data is continuous and high-dimensional, collecting enough representative data samples becomes difficult. We present a framework that uses active learning to help with the sequential gathering of data samples, using information-theoretic criteria to find optimal actions at each time step. We consider two approaches to recursively update the state parameter belief: an analytical Gaussian approximation and a Monte Carlo sampling method. We show how both active frameworks improve convergence, demonstrating results on a real robotic hand-arm system that estimates the viscosity of liquids from tactile feedback data.
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Bibtex format
author = { Hannes Saal and Jo-Anne Ting and Sethu Vijayakumar },
title = {Active sequential learning with tactile feedback},
book title = {Proc. 13th Int. Conf. on Artificial Intelligence and Statistics (AISTATS) 2010, JMLR: W&CP},
publisher = {JMLR},
year = 2010,
month = {May},
volume = {9},
pages = {677-684},
url = {},

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