Visuospatial Skill Learning for Object Reconfiguration Tasks

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Title: Visuospatial Skill Learning for Object Reconfiguration Tasks
Authors: Ahmadzadeh, SR
Kormushev, P
Caldwell, DG
Item Type: Conference Paper
Abstract: We present a novel robot learning approach based on visual perception that allows a robot to acquire new skills by observing a demonstration from a tutor. Unlike most existing learning from demonstration approaches, where the focus is placed on the trajectories, in our approach the focus is on achieving a desired goal configuration of objects relative to one another. Our approach is based on visual perception which captures the objects context for each demonstrated action. This context is the basis of the visuospatial representation and encodes implicitly the relative positioning of the object with respect to multiple other objects simultaneously. The proposed approach is capable of learning and generalizing multi-operation skills from a single demonstration, while requiring minimum a priori knowledge about the environment. The learned skills comprise a sequence of operations that aim to achieve the desired goal configuration using the given objects. We illustrate the capabilities of our approach using three object reconfiguration tasks with a Barrett WAM robot. © 2013 IEEE.
Issue Date: 3-Nov-2013
Date of Acceptance: 3-Nov-2013
URI: http://hdl.handle.net/10044/1/26041
DOI: https://dx.doi.org/10.1109/IROS.2013.6696425
ISBN: 978-1-4673-6358-7
Publisher: IEEE
Start Page: 685
End Page: 691
Journal / Book Title: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2013)
Copyright Statement: © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publication Status: Published
Publisher URL: http://kormushev.com/papers/Ahmadzadeh_IROS-2013.pdf
Start Date: 2013-11-03
Finish Date: 2013-11-07
Conference Place: Tokyo
Appears in Collections:Dyson School of Design Engineering



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