Publication
Teaching a robot the semantics of assembly tasks
Journal Article (2018)
Journal
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Pages
670-692
Volume
48
Number
5
Doc link
http://dx.doi.org/10.1109/TSMC.2016.2635479
File
Authors
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Thiusius, Savarimuthu
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Anders, Buch
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Christian, Schlette
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Wantia, Nils
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Rossmann, Jürgen
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Martínez Martínez, David
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Alenyà Ribas, Guillem
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Torras Genís, Carme
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Ales, Ude
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Bojan, Nemec
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Aljaž, Kramberger
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Wörgötter, Florentin
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Aksoy, Eren Erdal
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Papon, Jeremie
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Haller, Simon
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Piater, Justus
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Krüger, Norbert
Projects associated
Abstract
We present a three-level cognitive system in a learning by demonstration context. The system allows for learn- ing and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level represen- tation based on so-called “semantic event chains.” We describe details of the representations and quantify the effect of the asso- ciated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the over- all system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6.
Categories
artificial intelligence, learning (artificial intelligence), manipulators.
Scientific reference
S. Thiusius, B. Anders, S. Christian, N. Wantia, J. Rossmann, D. Martínez, G. Alenyà, C. Torras, U. Ales, N. Bojan, K. Aljaž, F. Wörgötter, E.E. Aksoy, J. Papon, S. Haller, J. Piater and N. Krüger. Teaching a robot the semantics of assembly tasks. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 48(5): 670-692, 2018.
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