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Teaching a robot the semantics of assembly tasks

AutorSavarimuthu, Thiusius R.; Buch, Anders G.; Schlette, Christian; Wantia, Nils; Roßmann, Jürgen; Martínez, David ; Alenyà, Guillem ; Torras, Carme ; Ude, Ales; Nemec, Bojan; Kramberger, Aljaž; Wörgötter, Florentin; Aksoy, Eren Erdal; Papon, Jeremie; Haller, Simon; Piater, Justus; Krüger, Norbert
Palabras claveLearning by demonstration (LbD)
Object recognition
Robotic assembly
Fecha de publicación2018
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE Transactions on Systems, Man, and Cybernetics: Systems 48(5): 670-692 (2018)
ResumenWe 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 editorhttps://doi.org/10.1109/TSMC.2016.2635479
Identificadoresdoi: 10.1109/TSMC.2016.2635479
e-issn: 2168-2232
issn: 2168-2216
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