Temporal Segmentation of Pair-Wise Interaction Phases in Sequential Manipulation DemonstrationsReport as inadecuate

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1 MLR - Machine Learning and Robotics Stuttgart 2 Flowers - Flowing Epigenetic Robots and Systems Inria Bordeaux - Sud-Ouest, ENSTA ParisTech U2IS - Unité d-Informatique et d-Ingénierie des Systèmes

Abstract : We consider the problem of learning from complex sequential demonstrations. We propose to analyze demonstrations in terms of the concurrent interaction phases which arise between pairs of involved bodies hand-object and object-object. These interaction phases are the key to decompose a full demonstration into its atomic manipulation actions and to extract their respective consequences. In particular, one may assume that the goal of each interaction phase is to achieve specific geometric constraints between objects. This generalizes previous Learning from Demonstration approaches by considering not just the motion of the end-effector but also the relational properties of the objects- motion. We present a linear-chain Conditional Random Field model to detect the pair-wise interaction phases and extract the geometric constraints that are established in the environment, which represent a high-level task oriented description of the demonstrated manipulation. We test our system on single- and multi-agent demonstrations of assembly tasks, respectively of a wooden toolbox and a plastic chair.

Author: Andrea Baisero - Yoan Mollard - Manuel Lopes - Marc Toussaint - Ingo Lutkebohle -

Source: https://hal.archives-ouvertes.fr/


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