Nico (right) and Matteo Mucchetti pose with their homemade dark ride vehicle. We may earn revenue from the products available on this page and participate in affiliate programs. When 12-year-old Matteo Mucchetti mapped out an amusement-style attraction that he wanted to create in his family's basement and then showed it to his older brother Nico, the high-school sophomore was immediately sold. "This is amazing," said Nico. "Let's make it!" Matteo had sketched on paper a top-down view of the multi-room space in Bear, Delaware, where they live.

In multi-step learning, where a final learning task is accomplished via a sequence of intermediate learning tasks, the intuition is that successive steps or levels transform the initial data into representations more and more ``suited to the final learning task. A related principle arises in transfer-learning where Baxter (2000) proposed a theoretical framework to study how learning multiple tasks transforms the inductive bias of a learner. The most widespread multi-step learning approach is semi-supervised learning with two steps: unsupervised, then supervised. Several authors (Castelli-Cover, 1996; Balcan-Blum, 2005; Niyogi, 2008; Ben-David et al, 2008; Urner et al, 2011) have analyzed SSL, with Balcan-Blum (2005) proposing a version of the PAC learning framework augmented by a ``compatibility function to link concept class and unlabeled data distribution. We propose to analyze SSL and other multi-step learning approaches, much in the spirit of Baxter's framework, by defining a learning problem generatively as a joint statistical model on $X \times Y$.

Abstract--Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage--grasping the desired outcome, selecting the most suitable tool, determining optimal tool orientation, and executing precise manipulations--we introduce a pioneering framework. Our novel approach expands the capabilities of the robot's inverse kinematics solver, empowering it to acquire a sequential repertoire of actions using tools of varying lengths. By integrating a simulation-learned action trajectory with the tool, we showcase the practicality of transferring acquired skills from simulation to real-world scenarios through comprehensive experimentation. Remarkably, our extended inverse kinematics solver demonstrates an impressive error rate of less than 1cm. Furthermore, our trained policy achieves a mean error of 8cm in simulation. Noteworthy, our model achieves virtually indistinguishable performance when employing two distinct tools of different lengths. This research provides an indication of potential advances in the exploration of all four fundamental aspects of tool usage, enabling robots to master the intricate art of tool manipulation across diverse tasks. Tool use is the employment of a device or object held in a robotic gripper or hand to fulfill a task goal. Humans and animals like the New Caledonian crow have learned to use tools to accomplish tasks that they were not previously able to do when using only their own bodies or appendages.

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Abstract-- We present IMMERTWIN, a mixed reality framework for enhance robotic arm teleoperation using a closedloop digital twin as a bridge for interaction between the user and the robotic system. We evaluated IMMERTWIN by performing a medium-scale user survey with 26 participants on two robots. Users were asked to teleoperate with both robots inside the virtual environment to pick and place 3 cubes in a tower and to repeat this task as many times as possible in 10 minutes, with only 5 minutes of training beforehand. Our experimental results show that most users were able to succeed by building at least a tower of 3 cubes regardless of the robot used and a maximum of 10 towers (1 tower per minute). In addition, users preferred to use IMMERTWIN over our previous work, TELESIM, as it caused them less mental workload. The ANA Avatar XPRIZE [1] competition has significantly increased interest in telepresence robotics.

Abstract-- As collaborative robots become more common in manufacturing scenarios and adopted in hybrid human-robot teams, we should develop new interaction and communication strategies to ensure smooth collaboration between agents. In this paper, we propose a novel communicative interface that uses Mixed Reality as a medium to perform Kinesthetic Teaching (KT) on any robotic platform. We evaluate our proposed approach in a user study involving multiple subjects and two different robots, comparing traditional physical KT with holographic-based KT through user experience questionnaires and task-related metrics. Index Terms-- Human-Robot Interaction, Mixed Reality, Kinesthetic Teaching, Software Architecture. In smart factories, robots are expected to coexist and work alongside humans rather than replace them.

The Baxter robot is a standard research platform used widely in research tasks, supported with an SDK provided by the developers, Rethink Robotics. Despite the ubiquitous use of the robot, the official software support is sub-standard. Especially, the native IK service has a low success rate and is often inconsistent. This unreliable behavior makes Baxter difficult to use for experiments and the research community is in need of a more reliable software support to control the robot. We present our work towards creating a Python based software library supporting the kinematics and dynamics of the Baxter robot. Our toolbox contains implementation of pose and velocity kinematics with support for Jacobian operations for redundancy resolution. We present the implementation and performance of our library, along with a comparison with PyKDL. Keywords- Baxter Research Robot, Manipulator Kinematics, Iterative IK, Dynamical Model, Redundant Manipulator

Worker-Robot Cooperation is a new industrial trend, which aims to sum the advantages of both the human and the industrial robot to afford a new intelligent manufacturing techniques. The cooperative manufacturing between the worker and the robot contains other elements such as the product parts and the manufacturing tools. All these production elements must cooperate in one manufacturing workcell to fulfill the production requirements. The manufacturing control system is the mean to connect all these cooperative elements together in one body. This manufacturing control system is distributed and autonomous due to the nature of the cooperative workcell. Accordingly, this article proposes the holonic control architecture as the manufacturing concept of the cooperative workcell. Furthermore, the article focuses on the feasibility of this manufacturing concept, by applying it over a case study that involves the cooperation between a dual-arm robot and a worker. During this case study, the worker uses a variety of hand gestures to cooperate with the robot to achieve the highest production flexibility

In this work we aim at extending the theoretical foundations of lifelong learning. Previous work analyzing this scenario is based on the assumption that learning tasks are sampled i.i.d.

When Virginia Woolf wrote this innocuous sentence in "A Room of One's Own," her foundational work of feminist criticism, she opened the door to another field, still decades in the future--that of queer literary criticism. Do not blush," Woolf cautioned her audience. "Let us admit in the privacy of our own society that these things sometimes happen. Sometimes women do like women." Chloe and Olivia are characters in a book that Woolf has invented, a mediocre novel by a writer she names Mary Carmichael. Ostensibly, the women are friends and colleagues, not lovers, but Woolf drops clues for attentive readers. At one point, she interrupts her train of thought to ask for reassurance that Sir Chartres Biron is not lurking somewhere in the room. When she gave her original talks, Biron had recently been appointed the chief magistrate in an obscenity case that had been brought against the publisher of Radclyffe Hall's "The Well of Loneliness," a novel about a girl named Stephen who wants to be ...