Knowledge Commons of Institute of Automation,CAS
An Automatic Robot Skills Learning System from Robot's Real-World Demonstrations | |
Li, Boyao; Lu, Tao; Li, Xiaocan; Cai, Yinghao; Wang, Shuo | |
2019-06 | |
会议名称 | 31th Chinese Control and Decision Conference |
卷号 | 2019: 5138-5142 |
会议日期 | 2019.06.03-2019.06.05 |
会议地点 | Nanchang, China |
摘要 | In order to avoid complicated programming difficulties in robot control, we propose an automatic robot learning system which can learn skills from real-world demonstrations by robot. The system utilizes RGB-D camera to record one robot's demonstrations and then the demonstration data are processed and transferred into robot simulation environment. The policy model is trained entirely in simulation with the advantage of avoiding safety problem which is the key difficulty of real-world training. Then the learned policy is automatically transferred to another robot to reproduce the demonstrated skills. The experiments show that the system could automatically finish entire learning process from recording the robot demonstrations to applying the learned policy to another robot. And with the selected policy learning method, the robot could not only acquire skills but outperform the demonstrator. |
关键词 | learn from demonstrations simulation real-world demonstrations coordinate transformation |
收录类别 | EI |
资助项目 | National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[U1713222] ; National Key R&D Program of China[2017YFB1300202] ; National Key R&D Program of China[2017YFB1300202] ; National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[61773378] |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/40234 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Lu, Tao |
作者单位 | 中国科学院自动化研究所智能机器人系统研究部 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Li, Boyao,Lu, Tao,Li, Xiaocan,et al. An Automatic Robot Skills Learning System from Robot's Real-World Demonstrations[C],2019. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
IEEE 最终版.pdf(10072KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 |
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