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members:sturmju:research:imitation [2011/07/12 11:18] sturmju |
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+ | ====== Imitation Learning ====== | ||
+ | |||
+ | To accomplish a particular manipulation task, a robot needs a detailed description | ||
+ | of how to execute it. | ||
+ | However, it is not possible to specify all potential tasks of a | ||
+ | manipulation robot beforehand. | ||
+ | operating in industrial contexts are frequently faced with changes in | ||
+ | the production process. As a consequence, | ||
+ | on a regular basis. | ||
+ | solutions that enable normal users to quickly and intuitively teach | ||
+ | new manipulation skills to a robot. | ||
+ | |||
+ | |||
+ | More concretely, we consider the problem of learning generalized descriptions of | ||
+ | object manipulation tasks from human demonstrations. | ||
+ | We employ dynamic Bayesian | ||
+ | networks (DBN) as a compact representation where special nodes | ||
+ | encode geometrical constraints between the relevant objects in the scene and the | ||
+ | hand of the demonstrator. This formulation allows the robot to | ||
+ | learn generalized task descriptions from multiple demonstrations so that | ||
+ | it can reproduce them also under changed conditions. | ||
+ | Furthermore, | ||
+ | can easily be added during the reproduction of a task. This is, for example, relevant to allow a robot | ||
+ | to deal with obstacles. | ||
+ | the robot searches for the action sequence that maximizes | ||
+ | the data likelihood in the DBN. In experiments carried out in simulation as well as on | ||
+ | a real manipulation robot, we show that | ||
+ | our approach enables robots to efficiently learn novel manipulation skills from human | ||
+ | demonstrations and to robustly reproduce them in different situations. | ||
+ | |||
+ | < | ||
+ | <iframe width=" | ||
+ | </ | ||
+ | |||
+ | ====== Related Publications ====== | ||
+ | |||
+ | < | ||
+ | < | ||
+ | < | ||
+ | </ | ||