Caccavale, Riccardo und Saveriano, Matteo und Fontanelli, Giuseppe und Ficuciello, Fanny und Lee, Dongheui und Finzi, Alberto (2017) Imitation Learning and Attentional Supervision of Dual-Arm Structured Tasks. In: IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EPIROB). ICDL-EPIROB, 2017-09-18 - 2017-09-21, Portugal. doi: 10.1109/DEVLRN.2017.8329789.
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Kurzfassung
In this work, we present an approach to imitation learning and flexible execution of dual-arm structured tasks. The proposed framework exploits imitation learning and attentional supervision to learn both a set of motion primitives and the associated tasks structure. During the teaching phase, attentional supervision allows the teacher to exploit attention manipulation, like object and verbal cueing, to facilitate the demonstration. In this phase, motion data are automatically segmented, annotated and learned in a compact form for on-line motion generation. During the execution phase, the learned task structure is exploited to synchronize left and right arm movements and to adapt task execution to the operative context. The proposed approach is demonstrated in a simulated kitchen scenario considering a pizza preparation task.
elib-URL des Eintrags: | https://elib.dlr.de/113326/ | ||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||
Titel: | Imitation Learning and Attentional Supervision of Dual-Arm Structured Tasks | ||||||||||||||
Autoren: |
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Datum: | 2017 | ||||||||||||||
Erschienen in: | IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EPIROB) | ||||||||||||||
Open Access: | Nein | ||||||||||||||
In SCOPUS: | Nein | ||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||
DOI: | 10.1109/DEVLRN.2017.8329789 | ||||||||||||||
Stichwörter: | attentional supervision, dual arm Manipulation, skill learning | ||||||||||||||
Veranstaltungstitel: | ICDL-EPIROB | ||||||||||||||
Veranstaltungsort: | Portugal | ||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||
Veranstaltungsbeginn: | 18 September 2017 | ||||||||||||||
Veranstaltungsende: | 21 September 2017 | ||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) |
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