Stulp, Freek and Federizzi, Andreas and Zacharias, Franziska and Tenorth, Moritz and Bandouch, Jan and Beetz, Michael (2009) Combining Analysis, Imitation, and Experience-based Learning to Acquire a Concept of Reachability in Robot Mobile Manipulation. International Conference on Humanoid Robots (Humanoids), Paris, France.
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Analytic modeling, imitation, and experiencebased learning are three approaches that enable robots to acquire models of their morphology and skills. In this paper, we combine these three approaches to efficiently gather training data to learn a model of reachability for a typical mobile manipulation task: approaching a worksurface in order to grasp an object. The core of the approach is experience-based learning. For more effective exploration, we use capability maps as analytic models of the robot’s dexterity to constrain the area in which the robot gathers training data. Furthermore, we acquire a human model of reachability from human motion data and use it to bias exploration. The acquired training data is used to learn Action-Related Places. In an empirical evaluation we demonstrate that combining the three approaches enables the robot to acquire accurate models with far less data than with our previous exploration strategy.
|Document Type:||Conference or Workshop Item (Paper)|
|Title:||Combining Analysis, Imitation, and Experience-based Learning to Acquire a Concept of Reachability in Robot Mobile Manipulation|
|Keywords:||learning, mobile manipulation, workspace representation|
|Event Title:||International Conference on Humanoid Robots (Humanoids)|
|Event Location:||Paris, France|
|Event Type:||international Conference|
|HGF - Research field:||Aeronautics, Space and Transport (old)|
|HGF - Program:||other|
|HGF - Program Themes:||W - no assignement|
|DLR - Research area:||no assignement|
|DLR - Program:||W - no assignement|
|DLR - Research theme (Project):||W - Leistungszentrum Robotik - Kognitive Intelligenz und Autonomie (old)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Franziska Zacharias|
|Deposited On:||18 Jan 2010 09:22|
|Last Modified:||18 Jan 2010 09:22|
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