Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Dynamic Task Execution using Active Parameter Identification with the
  Baxter Research Robot   This paper presents experimental results from real-time parameter estimation
of a system model and subsequent trajectory optimization for a dynamic task
using the Baxter Research Robot from Rethink Robotics. An active estimator
maximizing Fisher information is used in real-time with a closed-loop,
non-linear control technique known as Sequential Action Control. Baxter is
tasked with estimating the length of a string connected to a load suspended
from the gripper with a load cell providing the single source of feedback to
the estimator. Following the active estimation, a trajectory is generated using
the trep software package that controls Baxter to dynamically swing a suspended
load into a box. Several trials are presented with varying initial estimates
showing that estimation is required to obtain adequate open-loop trajectories
to complete the prescribed task. The result of one trial with and without the
active estimation is also shown in the accompanying video.

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The categories of this paper are: math
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The categories of this paper are: quant-ph
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The categories of this paper are: astro-ph
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The categories of this paper are: adap-org
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The categories of this paper are: q-bio
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The categories of this paper are: bayes-an
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The categories of this paper are: physics
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The categories of this paper are: gr-qc
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The categories of this paper are: hep-lat
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The categories of this paper are: math-ph
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The categories of this paper are: q-alg
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The categories of this paper are: funct-an
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The categories of this paper are: chao-dyn
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The categories of this paper are: comp-gas
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The categories of this paper are: mtrl-th
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The categories of this paper are: dg-ga