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Título: | Teaching a robot the semantics of assembly tasks |
Autor: | Savarimuthu, Thiusius R.; Buch, Anders G.; Schlette, Christian; Wantia, Nils; Roßmann, Jürgen; Martínez, David CSIC; Alenyà, Guillem CSIC ORCID ; Torras, Carme CSIC ORCID ; Ude, Ales; Nemec, Bojan; Kramberger, Aljaž; Wörgötter, Florentin; Aksoy, Eren Erdal; Papon, Jeremie; Haller, Simon; Piater, Justus; Krüger, Norbert | Palabras clave: | Learning by demonstration (LbD) Object recognition Vision Robotic assembly |
Fecha de publicación: | 2018 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE Transactions on Systems, Man, and Cybernetics: Systems 48(5): 670-692 (2018) | Resumen: | We present a three-level cognitive system in a learning by demonstration context. The system allows for learning and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level representation based on so-called 'semantic event chains.' We describe details of the representations and quantify the effect of the associated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the overall system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6. | Versión del editor: | https://doi.org/10.1109/TSMC.2016.2635479 | URI: | http://hdl.handle.net/10261/167155 | DOI: | 10.1109/TSMC.2016.2635479 | Identificadores: | doi: 10.1109/TSMC.2016.2635479 e-issn: 2168-2232 issn: 2168-2216 |
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teachrobotasks.pdf | 1,48 MB | Adobe PDF | Visualizar/Abrir |
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