パラメトリックバイアスによる動作スタイル制約を付加した模倣学習
Imitation Learning with Additional Constraints on Motion Style using Parametric Bias
模倣学習ネットワークにパラメトリックバイアスを追加し、関節速度や筋長速度、筋張力などの動作スタイルを意図的に制約・変更できる手法を提案し、PR2と筋骨格ヒューマノイドMusashiLarmで有効性を示した。
著者: Kento Kawaharazuka, Yoichiro Kawamura, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
Imitation learning is one of the methods for reproducing human demonstration adaptively in robots. So far, it has been found that generalization ability of the imitation learning enables the robots to perform tasks adaptably in untrained environments. However, motion styles such as motion trajectory and the amount of force applied depend largely on the dataset of human demonstration, and settle down to an average motion style. In this study, we propose a method that adds parametric bias to the conventional imitation learning network and can add constraints to the motion style. By experiments using PR2 and the musculoskeletal humanoid MusashiLarm, we show that it is possible to perform tasks by changing its motion style as intended with constraints on joint velocity, muscle length velocity, and muscle tension.
