6 research outputs found
Gaussian-Process-based Robot Learning from Demonstration
Endowed with higher levels of autonomy, robots are required to perform
increasingly complex manipulation tasks. Learning from demonstration is arising
as a promising paradigm for transferring skills to robots. It allows to
implicitly learn task constraints from observing the motion executed by a human
teacher, which can enable adaptive behavior. We present a novel
Gaussian-Process-based learning from demonstration approach. This probabilistic
representation allows to generalize over multiple demonstrations, and encode
variability along the different phases of the task. In this paper, we address
how Gaussian Processes can be used to effectively learn a policy from
trajectories in task space. We also present a method to efficiently adapt the
policy to fulfill new requirements, and to modulate the robot behavior as a
function of task variability. This approach is illustrated through a real-world
application using the TIAGo robot.Comment: 8 pages, 10 figure
Active Improvement of Control Policies with Bayesian Gaussian Mixture Model
Learning from demonstration (LfD) is an intuitive framework allowing
non-expert users to easily (re-)program robots. However, the quality and
quantity of demonstrations have a great influence on the generalization
performances of LfD approaches. In this paper, we introduce a novel active
learning framework in order to improve the generalization capabilities of
control policies. The proposed approach is based on the epistemic uncertainties
of Bayesian Gaussian mixture models (BGMMs). We determine the new query point
location by optimizing a closed-form information-density cost based on the
quadratic R\'enyi entropy. Furthermore, to better represent uncertain regions
and to avoid local optima problem, we propose to approximate the active
learning cost with a Gaussian mixture model (GMM). We demonstrate our active
learning framework in the context of a reaching task in a cluttered environment
with an illustrative toy example and a real experiment with a Panda robot.Comment: Accepted for publication in IROS'2
ILoSA: Interactive Learning of Stiffness and Attractors
Teaching robots how to apply forces according to our preferences is still an
open challenge that has to be tackled from multiple engineering perspectives.
This paper studies how to learn variable impedance policies where both the
Cartesian stiffness and the attractor can be learned from human demonstrations
and corrections with a user-friendly interface. The presented framework, named
ILoSA, uses Gaussian Processes for policy learning, identifying regions of
uncertainty and allowing interactive corrections, stiffness modulation and
active disturbance rejection. The experimental evaluation of the framework is
carried out on a Franka-Emika Panda in three separate cases with unique force
interaction properties: 1) pulling a plug wherein a sudden force discontinuity
occurs upon successful removal of the plug, 2) pushing a box where a sustained
force is required to keep the robot in motion, and 3) wiping a whiteboard in
which the force is applied perpendicular to the direction of movement
Generative adversarial training of product of policies for robust and adaptive movement primitives
In learning from demonstrations, many generative models of trajectories make
simplifying assumptions of independence. Correctness is sacrificed in the name
of tractability and speed of the learning phase.
The ignored dependencies, which often are the kinematic and dynamic
constraints of the system, are then only restored when synthesizing the motion,
which introduces possibly heavy distortions.
In this work, we propose to use those approximate trajectory distributions as
close-to-optimal discriminators in the popular generative adversarial framework
to stabilize and accelerate the learning procedure.
The two problems of adaptability and robustness are addressed with our
method.
In order to adapt the motions to varying contexts, we propose to use a
product of Gaussian policies defined in several parametrized task spaces.
Robustness to perturbations and varying dynamics is ensured with the use of
stochastic gradient descent and ensemble methods to learn the stochastic
dynamics. Two experiments are performed on a 7-DoF manipulator to validate the
approach.Comment: Source code can be found here :
https://github.com/emmanuelpignat/tf_robot_learnin
Topology Recoverability Prediction for Ad-Hoc Robot Networks: A Data-Driven Fault-Tolerant Approach
Faults occurring in ad-hoc robot networks may fatally perturb their
topologies leading to disconnection of subsets of those networks. Optimal
topology synthesis is generally resource-intensive and time-consuming to be
done in real time for large ad-hoc robot networks. One should only perform
topology re-computations if the probability of topology recoverability after
the occurrence of any fault surpasses that of its irrecoverability. We
formulate this problem as a binary classification problem. Then, we develop a
two-pathway data-driven model based on Bayesian Gaussian mixture models that
predicts the solution to a typical problem by two different pre-fault and
post-fault prediction pathways. The results, obtained by the integration of the
predictions of those pathways, clearly indicate the success of our model in
solving the topology (ir)recoverability prediction problem compared to the best
of current strategies found in the literature