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Imitation Learning and Attentional Supervision of Dual-Arm Structured Tasks

Caccavale, Riccardo and Saveriano, Matteo and Fontanelli, Giuseppe and Ficuciello, Fanny and Lee, Dongheui and 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, Portugal.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/113326/
Document Type:Conference or Workshop Item (Speech)
Title:Imitation Learning and Attentional Supervision of Dual-Arm Structured Tasks
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Caccavale, RiccardoUNSPECIFIEDUNSPECIFIED
Saveriano, MatteoTUMUNSPECIFIED
Fontanelli, GiuseppeUNSPECIFIEDUNSPECIFIED
Ficuciello, FannyUNSPECIFIEDUNSPECIFIED
Lee, DongheuiDongheui.Lee (at) dlr.dehttps://orcid.org/0000-0003-1897-7664
Finzi, AlbertoUNSPECIFIEDUNSPECIFIED
Date:2017
Journal or Publication Title:IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EPIROB)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:attentional supervision, dual arm Manipulation, skill learning
Event Title:ICDL-EPIROB
Event Location:Portugal
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lee, Prof. Dongheui
Deposited On:24 Jul 2017 12:00
Last Modified:11 Feb 2018 11:42

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