強化学習による対話的知覚での散らかった環境での物体探索
Object Finding in Cluttered Scenes Using Interactive Perception
散らかった環境でロボットが強化学習を用いて能動的に対話しながら対象物体を探索する手法を提案し、シミュレーションのみで学習したモデルが実環境でも88%以上の成功率で動作することを示した。
著者: Tonci Novkovic, Remi Pautrat, Fadri Furrer, Michel Breyer, Roland Siegwart, Juan Nieto
分類: cs.RO
原文アブストラクト
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the environment, and vice versa use perception to guide the next action. Scene interactions are difficult to model, therefore, most of the current systems use predefined heuristics. This limits their ability to efficiently search for the target object in a complex environment. In order to remove heuristics and the need for explicit models of the interactions, in this work we propose a reinforcement learning based active and interactive perception system for scene exploration and object search. We evaluate our work both in simulated and in real-world experiments using a robotic manipulator equipped with an RGB and a depth camera, and compare our system to two baselines. The results indicate that our approach, trained in simulation only, transfers smoothly to reality and can solve the object finding task efficiently and with more than 88% success rate.
