Learning of Generalized Manipulation Strategies in Service Robotics

This thesis makes a contribution to autonomous robotic manipulation. The core is a novel constraint-based representation of manipulation tasks suitable for flexible online motion planning. Interactive learning from natural human demonstrations is combined with parallelized optimization to enable efficient learning of complex manipulation tasks with limited training data. Prior planning results are encoded automatically into the model to reduce planning time and solve the correspondence problem

Learning for a robot:deep reinforcement learning, imitation learning, transfer learning

Dexterous manipulation of the robot is an important part of realizing intelligence, but manipulators can only perform simple tasks such as sorting and packing in a structured environment. In view of the existing problem, this paper presents a state-of-the-art survey on an intelligent robot with the capability of autonomous deciding and learning. The paper first reviews the main achievements and research of the robot, which were mainly based on the breakthrough of automatic control and hardware in mechanics. With the evolution of artificial intelligence, many pieces of research have made further progresses in adaptive and robust control. The survey reveals that the latest research in deep learning and reinforcement learning has paved the way for highly complex tasks to be performed by robots. Furthermore, deep reinforcement learning, imitation learning, and transfer learning in robot control are discussed in detail. Finally, major achievements based on these methods are summarized and analyzed thoroughly, and future research challenges are proposed