Robot introspection System

Task Representation

1. Finite State Machine + Dynamical Movement Primitives (Current Solution)

2. Automatically generate the manipulation graph by segmenting the demonstrations
  2.1 Skill library
  2.2 Skill sequencing (decision making)

Multimodal Feature Engineering

Introspection Models Construction

note: we should consider all the possible scienios for training a introspection model, espectically, in case of the classifier model.

Anomaly Detection

Anomaly Classification

Anomaly Recovery