Towards Online Safety Corrections for Robotic Manipulation Policies
Fuente:
arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866929499002634240 |
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| author | Spalter, Ariana Roberts, Mark Hiatt, Laura M. |
| author_facet | Spalter, Ariana Roberts, Mark Hiatt, Laura M. |
| contents | Recent successes in applying reinforcement learning (RL) for robotics has shown it is a viable approach for constructing robotic controllers. However, RL controllers can produce many collisions in environments where new obstacles appear during execution. This poses a problem in safety-critical settings. We present a hybrid approach, called iKinQP-RL, that uses an Inverse Kinematics Quadratic Programming (iKinQP) controller to correct actions proposed by an RL policy at runtime. This ensures safe execution in the presence of new obstacles not present during training. Preliminary experiments illustrate our iKinQP-RL framework completely eliminates collisions with new obstacles while maintaining a high task success rate. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_08233 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Towards Online Safety Corrections for Robotic Manipulation Policies Spalter, Ariana Roberts, Mark Hiatt, Laura M. Robotics Recent successes in applying reinforcement learning (RL) for robotics has shown it is a viable approach for constructing robotic controllers. However, RL controllers can produce many collisions in environments where new obstacles appear during execution. This poses a problem in safety-critical settings. We present a hybrid approach, called iKinQP-RL, that uses an Inverse Kinematics Quadratic Programming (iKinQP) controller to correct actions proposed by an RL policy at runtime. This ensures safe execution in the presence of new obstacles not present during training. Preliminary experiments illustrate our iKinQP-RL framework completely eliminates collisions with new obstacles while maintaining a high task success rate. |
| title | Towards Online Safety Corrections for Robotic Manipulation Policies |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.08233 |