人間の実演からのタスク把持の学習

原文アブストラクト

A challenge in robot grasping is to achieve task-grasping which is to select a grasp that is advantageous to the success of tasks before and after grasps. One of the frameworks to address this difficulty is Learning-from-Observation (LfO), which obtains various hints from human demonstrations. This paper solves three issues in the grasping skills in the LfO framework: 1) how to functionally mimic human-demonstrated grasps to robots with limited grasp capability, 2) how to coordinate grasp skills with reaching body mimicking, 3) how to robustly perform grasps under object pose and shape uncertainty. A deep reinforcement learning using contact-web based rewards and domain randomization of approach directions is proposed to achieve such robust mimicked grasping skills. Experiment results show that the trained grasping skills can be applied in an LfO system and executed on a real robot. In addition, it is shown that the trained skill is robust to errors in the object pose and to the uncertainty of the object shape and can be combined with various reach-coordination.