Browsing by Author "Öztop, Erhan"
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ACNMP: skill transfer and task extrapolation through learning from demonstration and reinforcement learning via representation sharing
Akbulut, M. T.; Öztop, Erhan; Xue, H.; Tekden, A. E.; Şeker, M. Y.; Uğur, E. (ML Research Press, 2020)To equip robots with dexterous skills, an effective approach is to first transfer the desired skill via Learning from Demonstration (LfD), then let the robot improve it by self-exploration via Reinforcement Learning (RL). ... -
Action and language mechanisms in the brain: data, models and neuroinformatics
Arbib, M. A.; Bonaiuto, J. J.; Bornkessel-Schlesewsky, I.; Kemmerer, D.; MacWhinney, B.; Årup Nielsen, F.; Öztop, Erhan (Springer Science+Business Media, 2014-01)We assess the challenges of studying action and language mechanisms in the brain, both singly and in relation to each other to provide a novel perspective on neuroinformatics, integrating the development of databases for ... -
An actor-critic reinforcement learning approach for bilateral negotiation
Designing an effective and intelligent bidding strategy is one of the most compelling research challenges in automated negotiation, where software agents negotiate with each other to find a mutual agreement when there is ... -
Adaptive inverse kinematics of a 9-DOF surgical robot for effective manipulation
Sunal, Begüm; Öztop, Erhan; Bebek, Özkan (IEEE, 2019)In a robotic-assisted surgical system, fine and precise movement is essential. However, when the user wishes to cover a wider area during tele-operation, the configuration designed for precise motion may restrict the user ... -
Adaptive shared control with human intention estimation for human agent collaboration
Amirshirzad, Negin; Uğur, E.; Bebek, Özkan; Öztop, Erhan (IEEE, 2022)In this paper an adaptive shared control frame-work for human agent collaboration is introduced. In this framework the agent predicts the human intention with a confidence factor that also serves as the control blending ... -
Advancing humanoid robots for social integration: Evaluating trustworthiness through a social cognitive framework
Taliaronak, V.; Lange, A. L.; Kırtay, M.; Öztop, Erhan (IEEE, 2023)Trust is an essential concept for human-human and human-robot interactions. Yet only a few studies have addressed this concept from a robot perspective - that is, forming robot trust in interaction partners. Our previous ... -
Affordance-based altruistic robotic architecture for human–robot collaboration
Imre, M.; Öztop, Erhan; Nagai, Y.; Ugur, E. (Sage, 2019-08)This article proposes a computational model for altruistic behavior, shows its implementation on a physical robot, and presents the results of human-robot interaction experiments conducted with the implemented system. ... -
Algorithms for obtaining parsimonious higher order neurons
Sezener, C. E.; Öztop, Erhan (Springer International Publishing, 2017)Most neurons in the central nervous system exhibit all-or-none firing behavior. This makes Boolean Functions (BFs) tractable candidates for representing computations performed by neurons, especially at finer time scales, ... -
Bimanual rope manipulation skill synthesis through context dependent correction policy learning from human demonstration
Akbulut, B.; Girgin, T.; Mehrabi, Arash; Asada, M.; Ugur, E.; Öztop, Erhan (IEEE, 2023)Learning from demonstration (LfD) with behavior cloning is attractive for its simplicity; however, compounding errors in long and complex skills can be a hindrance. Considering a target skill as a sequence of motor primitives ... -
Cognition-enabled robot manipulation in human environments: requirements, recent work, and open problems
Ersen, M.; Öztop, Erhan; Sariel, S. (IEEE, 2017-09)Service robots are expected to play an important role in our daily lives as our companions in home and work environments in the near future. An important requirement for fulfilling this expectation is to equip robots with ... -
Combined weight and density bounds on the polynomial threshold function representation of Boolean functions
Öztop, Erhan; Asada, M. (Elsevier, 2022-08)In an earlier report it was shown that an arbitrary n-variable Boolean function f can be represented as a polynomial threshold function (PTF) with 0.75×2n or less number of monomials. In this report, we derive an upper ... -
Computational approaches to brain mechanisms of action recognition and emotion
Kırtay, Murat (2015-08)Through evolution living beings have gained unique features to deal with apparently easy but computationally expensive problems such as mate selection, learning sensorimotor skills and decision making. Thus, understanding ... -
Context based echo state networks for robot movement primitives
Amirshirzad, Negin; Asada, M.; Öztop, Erhan (IEEE, 2023)Reservoir Computing, in particular Echo State Networks (ESNs) offer a lightweight solution for time series representation and prediction. An ESN is based on a discrete time random dynamical system that is used to output a ... -
Cooperative multi-task assignment for heterogonous UAVs
Özalp, N.; Ayan, U.; Öztop, Erhan (IEEE, 2015)This research is focused on the cooperative multi-task assignment problem for heterogeneous UAVs, where a set of multiple tasks, each requiring a predetermined number of UAVs, have to be completed at specific locations. ... -
Deep multi-object symbol learning with self-attention based predictors
Ahmetoğlu, A.; Öztop, Erhan; Uğur, E. (IEEE, 2023)This paper proposes an architecture that can learn symbolic representations from the continuous sensorimotor experience of a robot interacting with a varying number of objects. Unlike previous works, this work aims to ... -
Deepsym: Deep symbol generation and rule learning for planning from unsupervised robot interaction
Ahmetoglu, A.; Seker, M. Y.; Piater, J.; Öztop, Erhan; Ugur, E. (AI Access Foundation, 2022)Symbolic planning and reasoning are powerful tools for robots tackling complex tasks. However, the need to manually design the symbols restrict their applicability, especially for robots that are expected to act in open-ended ... -
Developmental scaffolding with large language models
Çelik, B.; Ahmetoglu, A.; Ugur, E.; Öztop, Erhan (IEEE, 2023)Exploration and self-observation are key mechanisms of infant sensorimotor development. These processes are further guided by parental scaffolding to accelerate skill and knowledge acquisition. In developmental robotics, ... -
Dexterous manipulation with a robotic hand
Kaya, Osman (2017-06)In robotics, flexible and the dexterous manipulation are one of the most desired type of skills. To this end, we investigate dexterous manipulation skills on an anthropomorphic robot hand. In the first part of the study, ... -
Discovering predictive relational object symbols with symbolic attentive layers
Ahmetoglu, A.; Celik, B.; Öztop, Erhan; Uğur, E. (IEEE, 2024-02-01)In this letter, we propose and realize a new deep learning architecture for discovering symbolic representations for objects and their relations based on the self-supervised continuous interaction of a manipulator robot ... -
Dynamic movement primitives for human movement recognition
Pehlivan, Alp Burak; Öztop, Erhan (IEEE, 2015)Dynamic Movement Primitives (DMPs)-originally a method for movement trajectory generation [1] has been also used for recognition tasks [2, 3]. However there has not been a systematic comparison between other recognition ...
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