By the same authors

Object recall using an experience database to accelerate robot action planning

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Published copy (DOI)



Publication details

Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
DatePublished - 13 Dec 2017
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Original languageEnglish
ISBN (Electronic)9781538626825


Robot interaction planning is a computationally expensive process which rarely makes use of previous experiences in a deliberative manner. This paper addresses this issue by examining dimensionality reduction techniques to allow comparison of objects in a robot's environment based on the way they react to robot manipulation. We compare a number of techniques which can map objects from an observation space, which may contain thousands of dimensions, to a lower dimensionality space - the embedding space - which allows objects to be compared in an efficient manner, making knowledge transfer between similar objects more computationally tractable.

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