Knowledge Commons of Institute of Automation,CAS
Neuro-inspired Continual Anthropomorphic Grasping | |
Wanyi Li![]() ![]() ![]() | |
发表期刊 | iScience
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ISSN | 2589-0042 |
2023 | |
页码 | 106735 |
文章类型 | Article |
摘要 | Humans can learn continuously grasping various objects dexterously. This ability is enabled partly by underlying neural mechanisms. Most current works of anthropomorphic robotic grasping learning lack the capability of continual learning (CL). They utilize large dataset to train grasp models and the trained models are difficult to improve incrementally. By incorporating several discovered neural mechanisms supporting CL, we propose a neuro-inspired continual anthropomorphic grasping (NICAG) approach. It consists of a CL framework of anthropomorphic grasping and a neuro-inspired CL algorithm. Compared with other methods, our NICAG approach achieves better CL capability with lower loss and forgetting, and gets higher grasping success rate. It indicates that our approach performs better on alleviating forgetting and preserving grasp knowledge. The proposed system offers an approach for endowing anthropomorphic robotic hands with the ability to learn grasping objects continually, and has great potential to make a profound impact on robots in households and factories. |
关键词 | Continual learning Anthropomorphic robotic hands Grasping Neuro-inspired |
学科门类 | 工学::控制科学与工程 ; 工学::计算机科学与技术(可授工学、理学学位) |
DOI | https://doi.org/10.1016/j.isci.2023.106735 |
URL | 查看原文 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[91748131] ; National Natural Science Foundation of China[61771471] |
WOS记录号 | WOS:001018660100001 |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统决策-控制 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/51583 |
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 多模态人工智能系统全国重点实验室 |
通讯作者 | Peng Wang |
作者单位 | Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Wanyi Li,Wei Wei,Peng Wang. Neuro-inspired Continual Anthropomorphic Grasping[J]. iScience,2023:106735. |
APA | Wanyi Li,Wei Wei,&Peng Wang.(2023).Neuro-inspired Continual Anthropomorphic Grasping.iScience,106735. |
MLA | Wanyi Li,et al."Neuro-inspired Continual Anthropomorphic Grasping".iScience (2023):106735. |
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23-iscience-preproof(4175KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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