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  Generalizing Demonstrated Actions in Manipulation Tasks

Kroemer, O., Detry, R., Piater, J., & Peters, J. (2010). Generalizing Demonstrated Actions in Manipulation Tasks. In IROS 2010 Workshop on Grasp Planning and Task Learning by Imitation.

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 Creators:
Kroemer, O1, 2, Author              
Detry, R1, 2, Author              
Piater, J1, 2, Author              
Peters, J1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: Programming-by-demonstration promises to significantly reduce the burden of coding robots to perform new tasks. However, service robots will be presented with a variety of different situations that were not specifically demonstrated to it. In such cases, the robot must autonomously generalize its learned motions to these new situations. We propose a system that can generalize movements to new target locations and even new objects. The former is achieved by using a task-specific coordinate system together with dynamical systems motor primitives. Generalizing actions to new objects is a more complex problem, which we solve by treating it as a continuum-armed bandits problem. Using the bandits framework, we can efficiently optimize the learned action for a specific object. The proposed method was implemented on a real robot and succesfully adapted the grasping action to three different objects. Although we focus on grasping as an example of a task, the proposed methods are much more widely applicable to robot manipulation tasks.

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 Dates: 2010-10
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: 6852
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Title: IROS 2010 Workshop on Grasp Planning and Task Learning by Imitation
Place of Event: Taipei, Taiwan
Start-/End Date: 2010-10-18

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Title: IROS 2010 Workshop on Grasp Planning and Task Learning by Imitation
Source Genre: Proceedings
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