Contact Skill Imitation Learning for Robot-Independent Assembly Programming
FZI Research Center for Information Technology（FZI信息科技研究中心）；IAR Institute for Anthropomatics and Robotics, HIS Humanoids and Intelligence Systems Lab, KIT Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院（KIT）IAR人形机器人与机器人学研究所、HIS人形与智能系统实验室）
Stefan Scherzinger, Arne Roennau, Rüdiger Dillmann
备注：
8 pages, 12 figures, presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019
Robotic automation is a key driver for the advancement of technology. The skills of human workers, however, are difficult to program and seem currently unmatched by technical systems. In this work we present a data-driven approach to extract and learn robot-independent contact skills from human demonstrations in simulation environments, using a Long Short Term Memory (LSTM) network. Our model learns to generate error-correcting sequences of forces and torques in task space from object-relative motion, which industrial robots carry out through a Cartesian force control scheme on the real setup. This scheme uses forward dynamics computation of a virtually conditioned twin of the manipulator to solve the inverse kinematics problem. We evaluate our methods with an assembly experiment, in which our algorithm handles part tilting and jamming in order to succeed. The results show that the skill is robust towards localization uncertainty in task space and across different joint configurations of the robot. With our approach, non-experts can easily program force-sensitive assembly tasks in a robot-independent way.
Osaka University（大阪大学）；National Institute of Advanced Industrial Science and Technology（国立先进工业科学技术研究院）
Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic teaching, teleoperation, simulation, among other methods, the force profile is harder to obtain especially when a real robot is unavailable. It is difficult to obtain a realistic force profile in simulation even with physics engines. Such simulated force profiles tend to be unsuitable for the actual robotic assembly due to the reality gap and uncertainty in the as…
The University of Texas at Austin（德克萨斯大学奥斯汀分校）；IIIS, Tsinghua（清华大学智能产业研究院）；NVIDIA Research（英伟达研究院）
Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requirements and brittle generalization. Inspired by recent advances in multi-task imitation learning, we investigate the use of prior data from previous tasks to facilitate learning novel tasks in a robust, data-efficient manner. To make effective use of the prior data, the robot must internalize knowledge from past experiences and contextualize this knowledge in novel tasks. To that end, we develop a skill-based imitation l…
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；ETH Zurich（苏黎世联邦理工学院）
Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable learning and active control of individual behaviors, which limits their applicability. In this work, we propose a cooperative adversarial method for obtaining single versatile policies with controllable skill sets from unlabeled datasets containing diverse state transition patterns by maximizing their discriminability. Moreover, we show that by utilizing un…
School of Computing, University of Leeds（利兹大学计算机学院）
As a user-friendly and straightforward solution for robot trajectory generation, imitation learning has been viewed as a vital direction in the context of robot skill learning. In contrast to unconstrained imitation learning which ignores possible internal and external constraints arising from environments and robot kinematics/dynamics, recent works on constrained imitation learning allow for transferring human skills to unstructured scenarios, further enlarging the application domain of imitation learning. While various constraints have been studied, e.g., joint limits, obstacle avoidance and…
We propose a learning-from-demonstration approach for grounding actions from expert data and an algorithm for using these actions to perform a task in new environments. Our approach is based on an application of sampling-based motion planning to search through the tree of discrete, high-level actions constructed from a symbolic representation of a task. Recursive sampling-based planning is used to explore the space of possible continuous-space instantiations of these actions. We demonstrate the utility of our approach with a magnetic structure assembly task, showing that the robot can intellig…
Robotics at Google（谷歌机器人部门）；X, The Moonshot Factory（X（登月工厂））；UC Berkeley（加州大学伯克利分校）
Robotic skills can be learned via imitation learning (IL) using user-provided demonstrations, or via reinforcement learning (RL) using large amountsof autonomously collected experience.Both methods have complementarystrengths and weaknesses: RL can reach a high level of performance, but requiresexploration, which can be very time consuming and unsafe; IL does not requireexploration, but only learns skills that are as good as the provided demonstrations.Can a single method combine the strengths of both approaches? A number ofprior methods have aimed to address this question, proposing a variety…
SPECI: Skill Prompts based Hierarchical Continual Imitation Learning for Robot Manipulation
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（多模态人工智能系统国家重点实验室，自动化研究所，中国科学院）；School of Artificial Intelligence, University of Chinese Academy of Sciences（人工智能学院，中国科学院大学）
Hierarchical Imitation Learning (HIL) is an effective way for robots to learn sub-skills from long-horizon unsegmented demonstrations. However, the learned hierarchical structure lacks the mechanism to transfer across multi-tasks or to new tasks, which makes them have to learn from scratch when facing a new situation. Transferring and reorganizing modular sub-skills require fast adaptation ability of the whole hierarchical structure. In this work, we propose Dual Meta Imitation Learning (DMIL), a hierarchical meta imitation learning method where the high-level network and sub-skills are iterat…
Continuous Control of Diverse Skills in Quadruped Robots Without Complete Expert Datasets
Academy for Engineering and Technology, Fudan University（复旦大学工程与技术学院）；Beijing Jingcheng Zhitong Robotics Technology Co.（北京京城智通机器人科技有限公司）；Engineering Research Center of AI and Robotics（AI与机器人工程研究中心）
Neuro-Symbolic Imitation Learning: Discovering Symbolic Abstractions for Skill Learning
Intelligent Autonomous Systems, TU Darmstadt, Germany（图腾达姆施塔特大学智能自主系统研究所）；German Research Center for AI, Germany（德国人工智能研究中心）；Hessian Centre for Artificial Intelligence, Germany（黑森州人工智能中心）；Honda Research Institute EU, Germany（本田欧洲研究院）
T2S: Tokenized Skill Scaling for Lifelong Imitation Learning
School of Computer Science and Technology, East China Normal University, Shanghai 200062, China（东华大学计算机科学与技术学院）；Shanghai Innovation Institute, Shanghai 200062, China（上海创新研究院）；School of Informatics, Xiamen University, Xiamen, Fujian 361005, China（厦门大学信息学院）
University of Southern California（南加州大学）；Max-Planck-Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）
Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to apply to real-world scenarios, where robots have to be able to execute a multitude of tasks. In this paper, we propose a multi-modal imitation learning framework that is able to segment and imitate skills from unlabelled and unstructured demonstrations by learning skill segmentation and imitation learning jointly. The extensive simulation results indicate t…
University of California, Berkeley（加州大学伯克利分校）；Embodied Intelligence；OpenAI；International Computer Science Institute (ICSI)（国际计算机科学研究所（ICSI））
Imitation learning is a powerful paradigm for robot skill acquisition. However, obtaining demonstrations suitable for learning a policy that maps from raw pixels to actions can be challenging. In this paper we describe how consumer-grade Virtual Reality headsets and hand tracking hardware can be used to naturally teleoperate robots to perform complex tasks. We also describe how imitation learning can learn deep neural network policies (mapping from pixels to actions) that can acquire the demonstrated skills. Our experiments showcase the effectiveness of our approach for learning visuomotor ski…
Mitsubishi Electric Research Laboratories（三菱电机研究实验室）
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key applications of robots, and the next generation assembly systems could become much more efficient by creating collaborative human-robot systems. However, although collaborative robots have been around for decades, their application in truly collaborative systems has been limited. This is because a truly collaborative human-robot system needs to adjust its operation …
University of Southern California（南加州大学）；Meta AI；KAIST（韩国科学技术院）；Georgia Tech（佐治亚理工学院）
We propose an approach for semantic imitation, which uses demonstrations from a source domain, e.g. human videos, to accelerate reinforcement learning (RL) in a different target domain, e.g. a robotic manipulator in a simulated kitchen. Instead of imitating low-level actions like joint velocities, our approach imitates the sequence of demonstrated semantic skills like "opening the microwave" or "turning on the stove". This allows us to transfer demonstrations across environments (e.g. real-world to simulated kitchen) and agent embodiments (e.g. bimanual human demonstration to robotic arm). We …
We propose a model-free deep reinforcement learning method that leverages a small amount of demonstration data to assist a reinforcement learning agent. We apply this approach to robotic manipulation tasks and train end-to-end visuomotor policies that map directly from RGB camera inputs to joint velocities. We demonstrate that our approach can solve a wide variety of visuomotor tasks, for which engineering a scripted controller would be laborious. In experiments, our reinforcement and imitation agent achieves significantly better performances than agents trained with reinforcement learning or …
University of California, Berkeley（加州大学伯克利分校）；OpenAI
In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural networks can enable a robot to represent complex skills, but learning each skill from scratch then becomes infeasible. In this work, we present a meta-imitation learning method that enables a robot to learn how to learn more efficiently, allowing it to acquire new skills from just a single demonstration. Unlike prior methods for one-shot imitation, our method can …
LAR-MoE: Latent-Aligned Routing for Mixture of Experts in Robotic Imitation Learning
Department of Translational Surgical Oncology, NCT/UCC Dresden（转化外科肿瘤学系）；Cluster of Excellence-CeTI, TUD, Germany（卓越中心-CeTI）；Department of Visceral, Thoracic and Vascular Surgery, Faculty of Medicine and University Hospital Carl Gustav Carus, TUD, Germany（visceral、胸腔和血管外科系）
University of Maryland（马里兰大学）；Syracuse University（雪城大学）
Imitation learning allows social robots to learn new skills from human teachers without substantial manual programming, but it is difficult for robotic imitation learning systems to generalize demonstrated skills as well as human learners do. Contemporary neurocomputational approaches to imitation learning achieve limited generalization at the cost of data-intensive training, and often produce opaque models that are difficult to understand and debug. In this study, we explore the viability of developing purely-neural controllers for social robots that learn to imitate by reasoning about the un…
Mitsubishi Electric Research Laboratories (MERL)（三菱电机研究实验室）
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided through demonstration by an expert teacher. This can be used to learn a suitable representation of the skill that can be generalized to novel positions of one of the parts involved in the assembly, for example the hole in a peg-in-hole (PiH) insertion task. Under the expectation that this novel position might not be entirely accurately estimated by a vision or …
In recent years, a myriad of advanced results have been reported in the community of imitation learning, ranging from parametric to non-parametric, probabilistic to non-probabilistic and Bayesian to frequentist approaches. Meanwhile, ample applications (e.g., grasping tasks and human-robot collaborations) further show the applicability of imitation learning in a wide range of domains. While numerous literature is dedicated to the learning of human skills in unconstrained environment, the problem of learning constrained motor skills, however, has not received equal attention yet. In fact, const…
Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
University of Electronic Science and Technology of China（电子科技大学）；Huazhong University of Science and Technology（华中科技大学）；Southern University of Science and Technology（南方科技大学）；South China University of Technology（华南理工大学）；EbTech Co. Ltd.（依比特科技有限公司）
Tsinghua University（清华大学）；Beijing Innovation Center for Future Chip（北京未来芯片创新中心）
Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in real world. In this work we study how to realize continual imitation learning ability that empowers robots to continually learn new tasks one by one, thus reducing the burden of multi-task IL and accelerating the process of new task learning at the same time. We propose a novel trajectory generation model that employs both a generative adversarial network and…
GrOMP: Grasped Object Manifold Projection for Multimodal Imitation Learning of Manipulation
Mechanical Engineering Department at the University of Michigan（密歇根大学机械工程系）；Robotics & Automation Research Department at the Ford Motor Company（福特汽车公司机器人与自动化研究部）；Robotics Department at the University of Michigan（密歇根大学机器人系）
This study proposes an imitation learning method based on force and position information. Force information is required for precise object manipulation but is difficult to obtain because the acting and reaction forces cannnot be separated. To separate the forces, we proposed to introduce bilateral control, in which the acting and reaction forces are divided using two robots. In the proposed method, two models of neural networks learn a task; to draw a line along a ruler. We verify the possibility that force information is essential to imitate the human skill of object manipulation.
MinInter: Minimizing Trajectory Interpolation During Data Augmentation for Imitation Learning
School of Automation and Intelligent Manufacturing, Southern University of Science and Technology（南方科技大学自动化与智能制造学院）；Pengcheng Laboratory（鹏城实验室）；Carnegie Mellon University（卡内基梅隆大学）
While imitation learning provides us with an efficient toolkit to train robots, learning skills that are robust to environment variations remains a significant challenge. Current approaches address this challenge by relying either on large amounts of demonstrations that span environment variations or on handcrafted reward functions that require state estimates. Both directions are not scalable to fast imitation. In this work, we present Fast Imitation of Skills from Humans (FISH), a new imitation learning approach that can learn robust visual skills with less than a minute of human demonstrati…
Learning from demonstrations is a useful way to transfer a skill from one agent to another. While most imitation learning methods aim to mimic an expert skill by following the demonstration step-by-step, imitating every step in the demonstration often becomes infeasible when the learner and its environment are different from the demonstration. In this paper, we propose a method that can imitate a demonstration composed solely of observations, which may not be reproducible with the current agent. Our method, dubbed selective imitation learning from observations (SILO), selects reachable states …
Humans are capable of completing a range of challenging manipulation tasks that require reasoning jointly over modalities such as vision, touch, and sound. Moreover, many such tasks are partially-observed; for example, taking a notebook out of a backpack will lead to visual occlusion and require reasoning over the history of audio or tactile information. While robust tactile sensing can be costly to capture on robots, microphones near or on a robot's gripper are a cheap and easy way to acquire audio feedback of contact events, which can be a surprisingly valuable data source for perception in …
