| | |
| | |
Stat |
Members: 3643 Articles: 2'488'730 Articles rated: 2609
29 March 2024 |
|
| | | |
|
Article overview
| |
|
Teleoperator Imitation with Continuous-time Safety | Bachir El Khadir
; Jake Varley
; Vikas Sindhwani
; | Date: |
23 May 2019 | Abstract: | Learning to effectively imitate human teleoperators, with generalization to
unseen and dynamic environments, is a promising path to greater autonomy
enabling robots to steadily acquire complex skills from supervision. We propose
a new motion learning technique rooted in contraction theory and sum-of-squares
programming for estimating a control law in the form of a polynomial vector
field from a given set of demonstrations. Notably, this vector field is
provably optimal for the problem of minimizing imitation loss while providing
continuous-time guarantees on the induced imitation behavior. Our method
generalizes to new initial and goal poses of the robot and can adapt in
real-time to dynamic obstacles during execution, with convergence to
teleoperator behavior within a well-defined safety tube. We present an
application of our framework for pick-and-place tasks in the presence of moving
obstacles on a 7-DOF KUKA IIWA arm. The method compares favorably to other
learning-from-demonstration approaches on benchmark handwriting imitation
tasks. | Source: | arXiv, 1905.9499 | Services: | Forum | Review | PDF | Favorites |
|
|
No review found.
Did you like this article?
Note: answers to reviews or questions about the article must be posted in the forum section.
Authors are not allowed to review their own article. They can use the forum section.
browser claudebot
|
| |
|
|
|
| News, job offers and information for researchers and scientists:
| |