Assignment 4: Motor Expertise

The two most difficult instructions would be:

• 1. Instruction number-7
  The rotating of the pen seems to be the most difficult part because holding the pen with two fingers in such a way that it can be rotated by another finger is not a easy task for a robot hand with fewer degrees of freedom and sensors.
• 2. Instruction number-13
  Locating the locus on the paper in same way as human hand do is another very difficult task to do because human hand has 27 degrees of freedoms with 4 in each finger and 5 in the thumb. The aim controlling this number of degrees of freedoms with sensors is not easy to achieve. Managing the pressure between the pen and paper is also difficult.

• Explicit
  The kinesthetic demonstration of the task can be seen as an explicit knowledge. For example, In the vedio of Kalakrishnan the robot is using left hand to open the door. If we replace the door handle with right handed door then we have to mannually instruct the robot to start the task.
• Implicit
  The learning process to do the task with accurate and very fine parameters to successfully complete all the instructions comes under the Implicit learning.
• Chunks
  Chunks can be seen as series of those instructions which result in physical movement in the process. After each chunk of instructions, robot checks if the last chunk resulted in the desired position or not. If yes, then carry on with the next chunk or follow the instructions to repair last undesired result.

From our discussion, we came to the point that human is much more similar to the reinforcement learning, and feedback or reward plays major in human learing. If we consider the fire-fighting expert, he has gained the expertiese in this perticular field with the combination "reward" based processes and tacit learning.

END