A Framework for Learning and Reusing Robotic Skills
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
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| _version_ | 1866929402802077696 |
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| author | Hertel, Brendan Tran, Nhu Elkoudi, Meriem Azadeh, Reza |
| author_facet | Hertel, Brendan Tran, Nhu Elkoudi, Meriem Azadeh, Reza |
| contents | In this paper, we present our work in progress towards creating a library of motion primitives. This library facilitates easier and more intuitive learning and reusing of robotic skills. Users can teach robots complex skills through Learning from Demonstration, which is automatically segmented into primitives and stored in clusters of similar skills. We propose a novel multimodal segmentation method as well as a novel trajectory clustering method. Then, when needed for reuse, we transform primitives into new environments using trajectory editing. We present simulated results for our framework with demonstrations taken on real-world robots. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_18383 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Framework for Learning and Reusing Robotic Skills Hertel, Brendan Tran, Nhu Elkoudi, Meriem Azadeh, Reza Robotics In this paper, we present our work in progress towards creating a library of motion primitives. This library facilitates easier and more intuitive learning and reusing of robotic skills. Users can teach robots complex skills through Learning from Demonstration, which is automatically segmented into primitives and stored in clusters of similar skills. We propose a novel multimodal segmentation method as well as a novel trajectory clustering method. Then, when needed for reuse, we transform primitives into new environments using trajectory editing. We present simulated results for our framework with demonstrations taken on real-world robots. |
| title | A Framework for Learning and Reusing Robotic Skills |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.18383 |