自己教師あり学習と模倣を組み合わせた視覚ベースのロープ操作
Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation
人間がロープを操作する画像列を入力に、自己教師あり学習で得たピクセル単位の逆動力学モデルと模倣による高レベル計画を組み合わせ、ロープを目標形状へ操作する手法を提案。
著者: Ashvin Nair, Dian Chen, Pulkit Agrawal, Phillip Isola, Pieter Abbeel, Jitendra Malik, Sergey Levine
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an initial to goal configuration, and outputs a sequence of actions that can reproduce the human demonstration, using only monocular images as input. To perform this task, the robot learns a pixel-level inverse dynamics model of rope manipulation directly from images in a self-supervised manner, using about 60K interactions with the rope collected autonomously by the robot. The human demonstration provides a high-level plan of what to do and the low-level inverse model is used to execute the plan. We show that by combining the high and low-level plans, the robot can successfully manipulate a rope into a variety of target shapes using only a sequence of human-provided images for direction.
