OpenBot-Fleet：実機ロボット群による集合学習システム
OpenBot-Fleet: A System for Collective Learning with Real Robots
スマホを活用した低コストロボット群とクラウドを組み合わせ、家庭環境でナビゲーション方策を集合学習し、未知の家でも80%以上の成功率を達成した。
著者: Matthias Müller, Samarth Brahmbhatt, Ankur Deka, Quentin Leboutet, David Hafner, Vladlen Koltun
分類: cs.RO, cs.AI, cs.LG
原文アブストラクト
We introduce OpenBot-Fleet, a comprehensive open-source cloud robotics system for navigation. OpenBot-Fleet uses smartphones for sensing, local compute and communication, Google Firebase for secure cloud storage and off-board compute, and a robust yet low-cost wheeled robot toact in real-world environments. The robots collect task data and upload it to the cloud where navigation policies can be learned either offline or online and can then be sent back to the robot fleet. In our experiments we distribute 72 robots to a crowd of workers who operate them in homes, and show that OpenBot-Fleet can learn robust navigation policies that generalize to unseen homes with >80% success rate. OpenBot-Fleet represents a significant step forward in cloud robotics, making it possible to deploy large continually learning robot fleets in a cost-effective and scalable manner. All materials can be found at https://www.openbot.org. A video is available at https://youtu.be/wiv2oaDgDi8
