Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/150209
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dc.contributor.authorTian, Tianen_US
dc.date.accessioned2021-06-12T13:49:14Z-
dc.date.available2021-06-12T13:49:14Z-
dc.date.issued2021-
dc.identifier.citationTian, T. (2021). On explainability of tactile data representation for robots. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/150209en_US
dc.identifier.urihttps://hdl.handle.net/10356/150209-
dc.description.abstractThe ability of texture classification is highly desired for robots. Current machine learning models working on texture classification tasks, despite having high accuracy, are inherently limited in interpretability. Therefore, modifications for better explainability are expected. In this work, we propose an explainable and efficient representation learning method. Texture property, stiffness and roughness characteristics specifically, as two crucial aspects when humans distinguish among different materials, are collected in a low-cost manner and infused to bootstrap the representation learning process in order to achieve better performance. In particular, two dedicated neurons in the representation vector are assigned to learn stiffness and roughness. By leveraging on these properties with physical notion in the latent space, the proposed method improves the classification accuracy. By testing on degrading the number of training samples and length of latent vector, we demonstrate that our method is able to retain performance under adverse condition. In general, the proposed representation learning method provides improvements in texture classification accuracy and efficiency as well as the interpretability of the latent representation.en_US
dc.language.isoenen_US
dc.publisherNanyang Technological Universityen_US
dc.subjectEngineering::Electrical and electronic engineeringen_US
dc.titleOn explainability of tactile data representation for robotsen_US
dc.typeFinal Year Project (FYP)en_US
dc.contributor.supervisorLin Zhipingen_US
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.description.degreeBachelor of Engineering (Electrical and Electronic Engineering)en_US
dc.contributor.supervisoremailEZPLin@ntu.edu.sgen_US
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Appears in Collections:EEE Student Reports (FYP/IA/PA/PI)
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