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Now showing items 11-20 of 46
Plan-view Trajectory Estimation with Dense Stereo Background Models
(2001-02-01)
In a known environment, objects may be tracked in multiple views using a set of back-ground models. Stereo-based models can be illumination-invariant, but often have undefined values which inevitably lead to foreground ...
Exploration in Gradient-Based Reinforcement Learning
(2001-04-03)
Gradient-based policy search is an alternative to value-function-based methods for reinforcement learning in non-Markovian domains. One apparent drawback of policy search is its requirement that all actions be 'on-policy'; ...
Importance Sampling for Reinforcement Learning with Multiple Objectives
(2001-08-01)
This thesis considers three complications that arise from applying reinforcement learning to a real-world application. In the process of using reinforcement learning to build an adaptive electronic market-maker, we find ...
An Algorithm for Bootstrapping Communications
(2001-08-13)
I present an algorithm which allows two agents to generate a simple language based only on observations of a shared environment. Vocabulary and roles for the language are learned in linear time. Communication is robust and ...
Reducing Drift in Parametric Motion Tracking
(2001-05-07)
We develop a class of differential motion trackers that automatically stabilize when in finite domains. Most differ-ential trackers compute motion only relative to one previous frame, accumulating errors indefinitely. We ...
Motion Estimation from Disparity Images
(2001-05-07)
A new method for 3D rigid motion estimation from stereo is proposed in this paper. The appealing feature of this method is that it directly uses the disparity images obtained from stereo matching. We assume that the stereo ...
Programmable Self-Assembly: Constructing Global Shape using Biologically-inspire
(2001-06-01)
In this thesis I present a language for instructing a sheet of identically-programmed, flexible, autonomous agents (``cells'') to assemble themselves into a predetermined global shape, using local interactions. The ...
Modeling, Estimation, and Control of Robot-Soil Interactions
(2001-09-01)
This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces. Unlike the majority of ...
2D-3D Rigid-Body Registration of X-Ray Fluoroscopy and CT Images
(2001-08-01)
The registration of pre-operative volumetric datasets to intra- operative two-dimensional images provides an improved way of verifying patient position and medical instrument loca- tion. In applications from orthopedics ...
Intelligence by Design: Principles of Modularity and Coordination for Engineerin
(2001-09-01)
All intelligence relies on search --- for example, the search for an intelligent agent's next action. Search is only likely to succeed in resource-bounded agents if they have already been biased towards finding the right ...